├── config ├── defaults.yaml ├── omnimimic_all_large.yaml ├── omnimimic_all_small.yaml └── omnimimic_single_dataset.yaml ├── omnimimic ├── data │ ├── __init__.py │ ├── common_transformations.py │ ├── data_splits.py │ ├── data_utils.py │ ├── dataset.py │ └── rlds_data_transforms.py ├── policies │ ├── __init__.py │ ├── models │ │ ├── __init__.py │ │ ├── base_model.py │ │ ├── gnm.py │ │ ├── modified_mobilenetv2.py │ │ ├── siamese.py │ │ └── stacked.py │ ├── nomad │ │ ├── README.md │ │ ├── __init__.py │ │ ├── nomad.py │ │ ├── nomad_vint.py │ │ └── vib_placeholder.py │ ├── nomad_wrapper.py │ └── self_attention.py ├── torch │ └── pytorch_util.py └── train_utils │ ├── __init__.py │ ├── logger.py │ ├── train_eval_loop.py │ ├── train_utils.py │ ├── visualization.py │ └── visualize_utils.py ├── scripts ├── eval_nomad.py └── train.py └── setup.py /config/defaults.yaml: -------------------------------------------------------------------------------- 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