├── .gitignore ├── .gitlab-ci.yml ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── README_DataCollection.md ├── airbot_type ├── FloatArray.py └── __init__.py ├── configurations ├── basic_configs │ └── example │ │ ├── default.yaml │ │ ├── environment │ │ ├── airbot_mmk.yaml │ │ ├── airbot_play_dual_real.yaml │ │ ├── airbot_play_real.yaml │ │ ├── airbot_play_with_realsenses.yaml │ │ ├── airbot_play_with_usbcams.yaml │ │ ├── airbot_ptk.yaml │ │ └── airbot_ptk_mock.yaml │ │ ├── policy │ │ ├── diffusion_policy.yaml │ │ └── vqbet.yaml │ │ └── robot │ │ ├── airbots │ │ ├── play │ │ │ ├── airbot_play.yaml │ │ │ ├── airbot_play_2_demonstration.yaml │ │ │ ├── airbot_play_2_replay_realsense_demonstration.yaml │ │ │ ├── airbot_play_4_with_usbcams.yaml │ │ │ ├── airbot_play_demonstration.yaml │ │ │ └── airbot_play_with_usbcams.yaml │ │ └── tok │ │ │ ├── airbot_tok.yaml │ │ │ ├── airbot_tok2_2_demonstration.yaml │ │ │ ├── airbot_tok2_2_no_base_demonstration.yaml │ │ │ ├── airbot_tok2_2_no_base_realsense_demonstration.yaml │ │ │ ├── airbot_tok2_2_no_base_remote_demonstration.yaml │ │ │ ├── airbot_tok2_2_realsense_demonstration.yaml │ │ │ ├── airbot_tok2_demonstration.yaml │ │ │ ├── airbot_tok4_2_demonstration.yaml │ │ │ ├── airbot_tok4_demonstration.yaml │ │ │ ├── airbot_tok_2.yaml │ │ │ ├── airbot_tok_demonstration.yaml │ │ │ └── airbot_tok_ptk.yaml │ │ └── fake.yaml └── task_configs │ ├── airbots │ ├── airbot_discoverse_example.py │ ├── airbot_mmk2_example.py │ ├── airbot_play_example.py │ ├── airbot_ptk_example.py │ └── airbot_tok_example.py │ ├── config_augmentation │ └── image │ │ └── basic.py │ ├── config_tools │ ├── basic_configer.py │ └── env_makers.py │ ├── example_task.py │ └── template.py ├── control_robot.py ├── control_robot_bson.py ├── data_process ├── augment_hdf5_images.py ├── bson_to_hdf5.py ├── color_viewer.py ├── concatenate_datasets.py ├── convert_all.py ├── dataset │ └── raw_dataset.py ├── hdf5_data_check.py ├── hdf5_padding.py ├── hdf5_to_raw.ipynb ├── image_processor.py ├── images_to_video.py ├── mujoco_to_zarr.py ├── raw_data_check.py ├── raw_to_hdf5.py └── record_realsense.py ├── envs ├── airbot_mmk_env.py ├── airbot_play_3_with_cam.py ├── airbot_play_4_with_cam.py ├── airbot_play_5_with_cam.py ├── airbot_play_mujoco_env.py ├── airbot_play_real_env.py ├── airbot_tok_2_env.py ├── common_env.py ├── make_env.py └── mock_env.py ├── habitats └── common │ ├── datasets │ └── video_utils.py │ ├── robot_devices │ ├── cameras │ │ ├── intelrealsense.py │ │ ├── opencv.py │ │ ├── ros1.py │ │ ├── ros2.py │ │ └── utils.py │ ├── robots │ │ └── utils.py │ └── utils.py │ └── utils │ ├── benchmark.py │ ├── import_utils.py │ ├── io_utils.py │ └── utils.py ├── images ├── basic_config.png ├── robot_arm_connect.png ├── train_info.png └── train_output_structure.png ├── policies ├── act │ └── act.py ├── common │ ├── detr │ │ ├── LICENSE │ │ ├── README.md │ │ ├── encoders │ │ │ ├── __init__.py │ │ │ └── images_hl_dyh │ │ │ │ ├── __init__.py │ │ │ │ ├── default_config.yaml │ │ │ │ └── images_hl_dyh.py │ │ ├── main.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── backbone.py │ │ │ ├── detr_vae.py │ │ │ ├── position_encoding.py │ │ │ └── transformer.py │ │ └── util │ │ │ ├── __init__.py │ │ │ ├── box_ops.py │ │ │ ├── misc.py │ │ │ └── plot_utils.py │ ├── loss.py │ ├── maker.py │ └── wrapper.py ├── diffusion │ └── diffusion_policy.py ├── onnx │ ├── ckpt2onnx.py │ └── onnx_policy.py └── traditionnal │ └── cnnmlp.py ├── policy_evaluate.py ├── policy_evaluate_new.py ├── policy_evaluate_wrapper.py ├── policy_train.py ├── policy_train_parallel.py ├── requirements ├── data_collection.txt ├── realsense.txt └── train_eval.txt ├── robot_utils.py ├── robots ├── airbots │ ├── airbot_base │ │ └── airbot_base.py │ ├── airbot_play │ │ ├── airbot_play_2.py │ │ ├── airbot_play_2_demonstration.py │ │ ├── airbot_play_3.py │ │ ├── airbot_play_3_demonstration.py │ │ ├── airbot_play_4.py │ │ ├── airbot_play_4_5.py │ │ ├── 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