├── .github └── teaser.jpg ├── .gitignore ├── LICENSE ├── README.md ├── VIRT ├── __init__.py ├── assets │ ├── bimanual_viperx_ee_insertion.xml │ ├── bimanual_viperx_ee_transfer_cube.xml │ ├── bimanual_viperx_insertion.xml │ ├── bimanual_viperx_transfer_cube.xml │ ├── scene.xml │ ├── tabletop.stl │ ├── vx300s_10_custom_finger_left.stl │ ├── vx300s_10_custom_finger_right.stl │ ├── vx300s_10_gripper_finger.stl │ ├── vx300s_11_ar_tag.stl │ ├── vx300s_1_base.stl │ ├── vx300s_2_shoulder.stl │ ├── vx300s_3_upper_arm.stl │ ├── vx300s_4_upper_forearm.stl │ ├── vx300s_5_lower_forearm.stl │ ├── vx300s_6_wrist.stl │ ├── vx300s_7_gripper.stl │ ├── vx300s_8_gripper_prop.stl │ ├── vx300s_9_gripper_bar.stl │ ├── vx300s_dependencies.xml │ ├── vx300s_left.xml │ └── vx300s_right.xml ├── configs │ ├── Base.yaml │ ├── isaac_multicolorbox.yaml │ ├── isaac_singlebox.yaml │ ├── isaac_singlecolorbox.yaml │ └── utils.py ├── data_envi │ ├── __init__.py │ ├── isaac_multicolorbox.py │ ├── isaac_singlebox.py │ └── isaac_singlecolorbox.py ├── detr │ ├── LICENSE │ ├── README.md │ ├── models │ │ ├── VIRT.py │ │ ├── __init__.py │ │ ├── backbone.py │ │ ├── dinov2.py │ │ ├── dinov2_layers │ │ │ ├── __init__.py │ │ │ ├── attention.py │ │ │ ├── block.py │ │ │ ├── drop_path.py │ │ │ ├── layer_scale.py │ │ │ ├── mlp.py │ │ │ ├── patch_embed.py │ │ │ └── swiglu_ffn.py │ │ ├── position_encoding.py │ │ └── transformer.py │ ├── setup.py │ └── util │ │ ├── __init__.py │ │ ├── box_ops.py │ │ ├── grid_mask.py │ │ ├── misc.py │ │ └── plot_utils.py ├── main.py └── utils │ ├── __init__.py │ ├── cache_url.py │ ├── check_point.py │ ├── comm.py │ ├── dataset_loaders │ ├── VIRT_dataset.py │ └── __init__.py │ ├── dataset_utils.py │ ├── engine.py │ ├── fastai_optim.py │ ├── imports.py │ ├── inference │ ├── __init__.py │ └── isaac_manipulation.py │ ├── learning_schedules_fastai.py │ ├── logger.py │ ├── metric_logger.py │ ├── model_serialization.py │ ├── model_zoo.py │ ├── models │ ├── VIRT_Policy.py │ ├── __init__.py │ 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