├── .gitmodules ├── LICENSE ├── README.md ├── fm-planning ├── LICENSE ├── README.md ├── configs │ └── models │ │ └── pretrained │ │ └── generative │ │ ├── gpt_3_5_turbo.yaml │ │ ├── gpt_3_5_turbo_cot.yaml │ │ ├── gpt_4.yaml │ │ ├── gpt_4_cot.yaml │ │ └── llama2_7b_chat.yaml ├── environment.yml ├── fm_planning │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ └── __init__.cpython-312.pyc │ ├── models │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ └── __init__.cpython-312.pyc │ │ └── pretrained │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── __init__.cpython-312.pyc │ │ │ ├── base.cpython-310.pyc │ │ │ ├── base.cpython-312.pyc │ │ │ ├── utils.cpython-310.pyc │ │ │ └── utils.cpython-312.pyc │ │ │ ├── base.py │ │ │ ├── generative │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── __init__.cpython-312.pyc │ │ │ │ ├── llama_gen.cpython-310.pyc │ │ │ │ ├── llama_gen.cpython-312.pyc │ │ │ │ ├── openai_gen.cpython-310.pyc │ │ │ │ ├── openai_gen.cpython-312.pyc │ │ │ │ ├── utils.cpython-310.pyc │ │ │ │ └── utils.cpython-312.pyc │ │ │ ├── llama_gen.py │ │ │ ├── openai_gen.py │ │ │ └── utils.py │ │ │ └── utils.py │ ├── prompts │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ └── __init__.cpython-312.pyc │ │ └── text2interaction │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ └── __init__.cpython-312.pyc │ │ │ ├── real_world │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── __init__.cpython-312.pyc │ │ │ │ ├── example_1.cpython-310.pyc │ │ │ │ ├── example_1.cpython-312.pyc │ │ │ │ ├── example_2.cpython-310.pyc │ │ │ │ ├── example_2.cpython-312.pyc │ │ │ │ ├── example_3.cpython-310.pyc │ │ │ │ ├── example_3.cpython-312.pyc │ │ │ │ ├── system_prompt.cpython-310.pyc │ │ │ │ └── system_prompt.cpython-312.pyc │ │ │ ├── example_1.py │ │ │ ├── example_2.py │ │ │ ├── example_3.py │ │ │ └── system_prompt.py │ │ │ └── simulation │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── __init__.cpython-312.pyc │ │ │ ├── example_1.cpython-310.pyc │ │ │ ├── example_2.cpython-310.pyc │ │ │ ├── example_3.cpython-310.pyc │ │ │ └── system_prompt.cpython-310.pyc │ │ │ └── object_rearrangement │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── __init__.cpython-312.pyc │ │ │ ├── example_0.cpython-310.pyc │ │ │ ├── example_0.cpython-312.pyc │ │ │ ├── example_1.cpython-310.pyc │ │ │ ├── example_1.cpython-312.pyc │ │ │ ├── example_10.cpython-310.pyc │ │ │ ├── example_10.cpython-312.pyc │ │ │ ├── example_11.cpython-310.pyc │ │ │ ├── example_11.cpython-312.pyc │ │ │ ├── example_12.cpython-310.pyc │ │ │ ├── example_12.cpython-312.pyc │ │ │ ├── example_13.cpython-310.pyc │ │ │ ├── example_13.cpython-312.pyc │ │ │ ├── example_14.cpython-310.pyc │ │ │ ├── example_14.cpython-312.pyc │ │ │ ├── example_2.cpython-310.pyc │ │ │ ├── example_2.cpython-312.pyc │ │ │ ├── example_3.cpython-310.pyc │ │ │ ├── example_3.cpython-312.pyc │ │ │ ├── example_4.cpython-310.pyc │ │ │ ├── example_4.cpython-312.pyc │ │ │ ├── example_5.cpython-310.pyc │ │ │ ├── example_5.cpython-312.pyc │ │ │ ├── example_6.cpython-310.pyc │ │ │ ├── example_6.cpython-312.pyc │ │ │ ├── example_7.cpython-310.pyc │ │ │ ├── example_7.cpython-312.pyc │ │ │ ├── example_8.cpython-310.pyc │ │ │ ├── example_8.cpython-312.pyc │ │ │ ├── example_9.cpython-310.pyc │ │ │ ├── example_9.cpython-312.pyc │ │ │ ├── system_prompt.cpython-310.pyc │ │ │ └── system_prompt.cpython-312.pyc │ │ │ ├── example_0.py │ │ │ ├── example_1.py │ │ │ ├── example_10.py │ │ │ ├── example_11.py │ │ │ ├── example_12.py │ │ │ ├── example_13.py │ │ │ ├── example_14.py │ │ │ ├── example_2.py │ │ │ ├── example_3.py │ │ │ ├── example_4.py │ │ │ ├── example_5.py │ │ │ ├── example_6.py │ │ │ ├── example_7.py │ │ │ ├── example_8.py │ │ │ ├── example_9.py │ │ │ └── system_prompt.py │ └── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── __init__.cpython-312.pyc │ │ ├── configs.cpython-310.pyc │ │ ├── configs.cpython-312.pyc │ │ ├── nest.cpython-310.pyc │ │ ├── nest.cpython-312.pyc │ │ ├── random.cpython-310.pyc │ │ ├── random.cpython-312.pyc │ │ ├── tensors.cpython-310.pyc │ │ ├── tensors.cpython-312.pyc │ │ ├── timing.cpython-310.pyc │ │ ├── timing.cpython-312.pyc │ │ ├── typing.cpython-310.pyc │ │ └── typing.cpython-312.pyc │ │ ├── configs.py │ │ ├── nest.py │ │ ├── random.py │ │ ├── tensors.py │ │ ├── timing.py │ │ └── typing.py ├── poetry.lock ├── poetry.toml ├── pyproject.toml ├── readme │ ├── B1_JakobBaseline1.gif │ ├── D2_JakobHandleCloser2.gif │ ├── ablation_structure.png │ ├── example_preference_function.png │ ├── helper_functions.png │ ├── prompt.png │ └── user_instruction.png └── scripts │ ├── __init__.py │ └── eval │ ├── __init__.py │ ├── __pycache__ │ 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