├── .gitignore ├── LICENSE ├── README.md ├── ddp_train.py ├── ddp_train_real.py ├── docs ├── DATA_GENERATION.md ├── DATA_PREPROCESSION.md ├── INFERENCE.md ├── INSTALLATION.md ├── REALWORLD.md └── TRAINING_DETAIL.md ├── inference-for-rlbench2 ├── ARM_LICENSE ├── LICENSE ├── README.md ├── agents │ ├── __init__.py │ ├── act_bc_lang │ │ ├── __init__.py │ │ ├── act_bc_lang_agent.py │ │ ├── act_policy.py │ │ ├── detr │ │ │ ├── LICENSE │ │ │ ├── __init__.py │ │ │ ├── build.py │ │ │ ├── models │ │ │ │ ├── __init__.py │ │ │ │ ├── backbone.py │ │ │ │ ├── detr_vae.py │ │ │ │ ├── position_encoding.py │ │ │ │ └── transformer.py │ │ │ └── util │ │ │ │ ├── __init__.py │ │ │ │ └── misc.py │ │ └── launch_utils.py │ ├── agent_factory.py │ ├── arm │ │ ├── __init__.py │ │ ├── launch_utils.py │ │ ├── next_best_pose_agent.py │ │ └── qattention_agent.py │ ├── baselines │ │ ├── __init__.py │ │ ├── bc_lang │ │ │ ├── __init__.py │ │ │ ├── bc_lang_agent.py │ │ │ └── launch_utils.py │ │ └── vit_bc_lang │ │ │ ├── __init__.py │ │ │ ├── launch_utils.py │ │ │ └── vit_bc_lang_agent.py │ ├── bimanual_peract │ │ ├── __init__.py │ │ ├── launch_utils.py │ │ ├── perceiver_lang_io.py │ │ ├── qattention_peract_bc_agent.py │ │ └── qattention_stack_agent.py │ ├── c2farm_lingunet_bc │ │ ├── __init__.py │ │ ├── launch_utils.py │ │ ├── networks.py │ │ ├── qattention_lingunet_bc_agent.py │ │ └── qattention_stack_agent.py │ ├── peract_bc │ │ ├── __init__.py │ │ ├── launch_utils.py │ │ ├── perceiver_lang_io.py │ │ ├── qattention_peract_bc_agent.py │ │ └── qattention_stack_agent.py │ ├── ppi │ │ ├── __init__.py │ │ ├── launch_utils.py │ │ └── ppi_agent.py │ ├── replay_utils.py │ └── rvt │ │ ├── __init__.py │ │ └── launch_utils.py ├── conf │ ├── config.yaml │ ├── eval.yaml │ ├── eval_ppi.yaml │ ├── hydra │ │ └── job_logging │ │ │ └── custom.yaml │ └── method │ │ ├── ACT_BC_LANG.yaml │ │ ├── ARM.yaml │ │ ├── BC_LANG.yaml │ │ ├── BIMANUAL_PERACT.yaml │ │ ├── C2FARM_LINGUNET_BC.yaml │ │ ├── PERACT_BC.yaml │ │ ├── PPI.yaml │ │ ├── RVT.yaml │ │ └── VIT_BC_LANG.yaml ├── eval.py ├── eval_ppi.py ├── helpers │ ├── __init__.py │ ├── clip │ │ ├── __init__.py │ │ └── core │ │ │ ├── __init__.py │ │ │ ├── attention.py │ │ │ ├── attention_image_goal.py │ │ │ ├── bpe_simple_vocab_16e6.txt.gz │ │ │ ├── clip.py │ │ │ ├── fusion.py │ │ │ ├── resnet.py │ │ │ ├── simple_tokenizer.py │ │ │ ├── transport.py │ │ │ ├── transport_image_goal.py │ │ │ └── unet.py │ ├── custom_rlbench_env.py │ ├── demo_loading_utils.py │ ├── network_utils.py │ ├── observation_utils.py │ ├── optim │ │ ├── __init__.py │ │ └── lamb.py │ ├── preprocess_agent.py │ └── utils.py ├── mitsuba_scene.xml ├── mitsuba_try_scene.xml ├── peract_config.py ├── pyproject.toml ├── run_seed_fn.py ├── setup.py └── train.py ├── media ├── ablation.png ├── carry_6cubes.mp4 ├── demo.mp4 ├── hand_flash.mp4 ├── ppi_method.png ├── scan_cool.mp4 └── teaser.png ├── ppi ├── common │ ├── checkpoint_util.py │ ├── get_data_continuous.py │ ├── get_data_keyframe.py │ ├── get_data_keyframe_continuous.py │ ├── get_data_keyframe_continuous_real.py │ ├── logger_util.py │ ├── model_util.py │ ├── pytorch_util.py │ ├── replay_buffer.py │ ├── replay_buffer_real.py │ ├── sampler_continuous.py │ ├── sampler_keyframe.py │ ├── sampler_keyframe_continuous.py │ └── sampler_keyframe_continuous_real.py ├── config │ ├── ppi.yaml │ ├── ppi_real.yaml │ └── task │ │ ├── ball.yaml │ │ ├── box.yaml │ │ ├── drawer.yaml │ │ ├── dustpan.yaml │ │ ├── handover_and_insert_the_plate.yaml │ │ ├── handover_and_insert_the_plate_simple.yaml │ │ ├── handover_easy.yaml │ │ ├── laptop.yaml │ │ └── lift_tray.yaml ├── dataset │ ├── __init__.py │ ├── base_dataset.py │ ├── real_dataset.py │ └── rlbench2_dataset.py ├── model │ ├── common │ │ ├── dict_of_tensor_mixin.py │ │ ├── lr_scheduler.py │ │ ├── module_attr_mixin.py │ │ ├── normalizer.py │ │ ├── shape_util.py │ │ └── tensor_util.py │ ├── diffusion │ │ ├── diffuser_actor_keypose_continuous.py │ │ ├── diffuser_actor_pointflow_continuous.py │ │ ├── diffuser_actor_ppi.py │ │ ├── diffuser_actor_ppi_real.py │ │ ├── diffuser_actor_ppi_real_simple.py │ │ ├── diffuser_actor_pure.py │ │ ├── diffuser_actor_utils │ │ │ ├── layers.py │ │ │ ├── multihead_custom_attention.py │ │ │ └── position_encodings.py │ │ ├── ema_model.py │ │ ├── mask_generator.py │ │ └── positional_embedding.py │ └── vision │ │ ├── observation_encoder.py │ │ ├── pointnet2.py │ │ └── semantic_feature_extractor.py ├── policy │ ├── base_policy.py │ ├── ppi.py │ └── ppi_real.py └── utils │ ├── __init__.py │ └── distributed.py ├── real_data └── training_raw │ └── handover_and_insert_the_plate │ ├── episode0000 │ └── steps │ │ └── 0000 │ │ ├── head_depth_x10000_uint16.png │ │ ├── head_rgb.jpg │ │ ├── left_depth_x10000_uint16.png │ │ ├── left_rgb.jpg │ │ ├── other_data.pkl │ │ ├── right_depth_x10000_uint16.png │ │ └── right_rgb.jpg │ └── obj_6dpose │ └── episode0000 │ └── obj_6dpose.pkl ├── real_world_deployment ├── calibration_results │ ├── view1_left_calibration.json │ ├── view1_right_calibration.json │ └── view3_head_2_leftbase_calibration.json ├── ckpts │ └── PPI │ │ └── handover_and_insert_the_plate-ppi-032103_handover_and_insert_the_plate_simple_512_64_h3_s10_seed0 │ │ ├── config.yaml │ │ └── epoch4800_model.pth.tar ├── inference_control_loop.py ├── policy │ ├── PPI │ │ ├── ppi │ │ │ ├── common │ │ │ │ ├── checkpoint_util.py │ │ │ │ ├── get_data_continuous.py │ │ │ │ ├── get_data_keyframe.py │ │ │ │ ├── get_data_keyframe_continuous.py │ │ │ │ ├── get_data_keyframe_continuous_real.py │ │ │ │ ├── logger_util.py │ │ │ │ ├── model_util.py │ │ │ │ ├── pytorch_util.py │ │ │ │ ├── replay_buffer.py │ │ │ │ ├── replay_buffer_real.py │ │ │ │ ├── sampler_continuous.py │ │ │ │ ├── sampler_keyframe.py │ │ │ │ ├── sampler_keyframe_continuous.py │ │ │ │ └── sampler_keyframe_continuous_real.py │ │ │ ├── model │ │ │ │ ├── common │ │ │ │ │ ├── dict_of_tensor_mixin.py │ │ │ │ │ ├── lr_scheduler.py │ │ │ │ │ ├── module_attr_mixin.py │ │ │ │ │ ├── normalizer.py │ │ │ │ │ ├── shape_util.py │ │ │ │ │ └── tensor_util.py │ │ │ │ ├── diffusion │ │ │ │ │ ├── diffuser_actor_keypose_continuous.py │ │ │ │ │ ├── diffuser_actor_pointflow_continuous.py │ │ │ │ │ ├── diffuser_actor_ppi.py │ │ │ │ │ ├── diffuser_actor_ppi_real.py │ │ │ │ │ ├── diffuser_actor_ppi_real_simple.py │ │ │ │ │ ├── diffuser_actor_pure.py │ │ │ │ │ ├── diffuser_actor_utils │ │ │ │ │ │ ├── layers.py │ │ │ │ │ │ ├── multihead_custom_attention.py │ │ │ │ │ │ └── position_encodings.py │ │ │ │ │ ├── ema_model.py │ │ │ │ │ ├── mask_generator.py │ │ │ │ │ └── positional_embedding.py │ │ │ │ └── vision │ │ │ │ │ ├── observation_encoder.py │ │ │ │ │ ├── pointnet2.py │ │ │ │ │ └── semantic_feature_extractor_bf16.py │ │ │ └── policy │ │ │ │ ├── base_policy.py │ │ │ │ ├── ppi.py │ │ │ │ └── ppi_real.py │ │ └── setup.py │ └── __init__.py ├── tele_control_loop.py └── utils │ ├── controllers │ ├── inference_controller.py │ └── tele_controller.py │ ├── env.py │ ├── realsense.py │ └── transform_utils.py ├── real_world_training_utils ├── get_lang_embedding.py └── helpers │ ├── __init__.py │ ├── clip │ ├── __init__.py │ └── core │ │ ├── __init__.py │ │ ├── attention.py │ │ ├── attention_image_goal.py │ │ ├── bpe_simple_vocab_16e6.txt.gz │ │ ├── clip.py │ │ ├── fusion.py │ │ ├── resnet.py │ │ ├── simple_tokenizer.py │ │ ├── transport.py │ │ ├── transport_image_goal.py │ │ └── unet.py │ ├── custom_rlbench_env.py │ ├── demo_loading_utils.py │ ├── network_utils.py │ ├── observation_utils.py │ ├── optim │ ├── __init__.py │ └── lamb.py │ ├── preprocess_agent.py │ └── utils.py ├── requirements.txt ├── scripts ├── ablation │ ├── ablation_box_continuous.sh │ ├── ablation_box_continuous_keypose.sh │ ├── ablation_box_continuous_pointflow.sh │ └── ablation_box_keyframe.sh ├── data_generation │ ├── generate_meta_data.sh │ ├── save_dino.py │ ├── save_norm_stats.py │ ├── save_point_flow.py │ └── save_ptc.py ├── data_generation_real │ ├── save_dino.py │ ├── save_norm_stats.py │ ├── save_point_flow_multi_obj.py │ ├── save_point_flow_single_obj.py │ └── save_ptc.py ├── inference │ ├── evaluate_ppi_ball.sh │ ├── evaluate_ppi_box.sh │ ├── evaluate_ppi_drawer.sh │ ├── evaluate_ppi_dustpan.sh │ ├── evaluate_ppi_handover_easy.sh │ ├── evaluate_ppi_laptop.sh │ └── evaluate_ppi_tray.sh ├── training │ ├── ddp_train_ball.sh │ ├── ddp_train_box.sh │ ├── ddp_train_drawer.sh │ ├── ddp_train_dustpan.sh │ ├── ddp_train_handover_easy.sh │ ├── ddp_train_laptop.sh │ └── ddp_train_tray.sh └── training_real │ ├── handover_and_insert_the_plate.sh │ └── handover_and_insert_the_plate_simple.sh └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/InternRobotics/PPI/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 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