├── .gitignore ├── InternVLA ├── __init__.py ├── config │ ├── deepseeds │ │ ├── deepspeed_zero2.yaml │ │ ├── ds_config.yaml │ │ ├── zero2.yaml │ │ └── zero3.json │ └── training │ │ ├── internvla_cotrain_custom.yaml │ │ ├── internvla_cotrain_libero.yaml │ │ ├── internvla_cotrain_oxe.yaml │ │ └── internvla_cotrain_sim_demo.yaml ├── dataloader │ ├── __init__.py │ ├── gr00t_lerobot │ │ ├── README.md │ │ ├── __init__.py │ │ ├── data_config.py │ │ ├── datasets.py │ │ ├── embodiment_tags.py │ │ ├── mixtures.py │ │ ├── schema.py │ │ ├── transform │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── concat.py │ │ │ ├── state_action.py │ │ │ └── video.py │ │ └── video.py │ ├── lerobot_datasets.py │ ├── qwenvl_llavajson │ │ ├── qwen_data_config.py │ │ └── rope2d.py │ └── vlm_datasets.py ├── model │ ├── framework │ │ ├── M1.py │ │ ├── __init__.py │ │ ├── base_framework.py │ │ └── share_tools.py │ ├── modules │ │ ├── action_model │ │ │ ├── DiTActionHeader.py │ │ │ ├── DiT_modules │ │ │ │ ├── diffusion_utils.py │ │ │ │ ├── gaussian_diffusion.py │ │ │ │ ├── models.py │ │ │ │ ├── respace.py │ │ │ │ └── timestep_sampler.py │ │ │ └── __init__.py │ │ ├── dino_model │ │ │ ├── dino.py │ │ │ └── dino_transforms.py │ │ ├── projector │ │ │ ├── QFormer.py │ │ │ └── __init__.py │ │ └── vlm │ │ │ ├── QWen2_5.py │ │ │ └── __init__.py │ └── tools.py └── training │ ├── __init__.py │ ├── train_internvla.py │ ├── train_internvla_cotrain.py │ └── trainer_utils │ ├── __init__.py │ ├── metrics.py │ └── overwatch.py ├── LICENSE ├── Makefile ├── README.md ├── assets ├── InternVLA_M1.pdf ├── MODEL_ZOO.md ├── model.png ├── table.jpeg └── teaser.png ├── deployment ├── __init__.py ├── model_server │ ├── README.md │ ├── __init__.py │ ├── debug_server_policy.py │ ├── server_policy_M1.py │ └── tools │ │ ├── __init__.py │ │ ├── image_tools.py │ │ ├── msgpack_numpy.py │ │ ├── websocket_policy_client.py │ │ └── websocket_policy_server.py ├── readme-deployment.md └── upload │ ├── push_model_to_hf.py │ └── scan_replace_chinese.py ├── examples ├── LIBERO │ ├── README.md │ ├── eval_libero.py │ ├── eval_libero.sh │ ├── model2libero_interface.py │ └── run_server.sh ├── SimplerEnv │ ├── README.md │ ├── adaptive_ensemble.py │ ├── custom_argparse.py │ ├── model2simpler_interface.py │ ├── start_server.sh │ ├── start_simpler_env.py │ └── start_simpler_env.sh └── real_robot │ ├── README.md │ ├── __init__.py │ ├── adaptive_ensemble.py │ ├── config.py │ ├── controller_dual.py │ ├── deploy_client.py │ ├── franka_controller.py │ ├── realsense_server.py │ ├── robotiq.py │ └── tool.py ├── playground ├── Datasets │ └── OXE_openvla ├── Pretrained_models └── demo_data │ └── sim_pick_place │ ├── data │ └── chunk-000 │ │ ├── episode_000000.parquet │ │ ├── episode_000001.parquet │ │ ├── episode_000002.parquet │ │ └── episode_000003.parquet │ ├── meta │ ├── episodes.jsonl │ ├── episodes_stats.jsonl │ ├── info.json │ ├── modality.json │ ├── stats.json │ ├── stats_gr00t.json │ ├── steps_ce7e3c1054a0.pkl │ └── 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