├── .gitignore ├── Galaxea_G0_report.pdf ├── LICENSE ├── NOTICE ├── README.md ├── assets └── teaser.png ├── docs ├── dataset.md └── inference.md ├── experiments ├── policy_r1_lite.py └── robot │ └── galaxea_real │ ├── galaxea_real_utils.py │ ├── instruction.txt │ ├── replay.py │ ├── robot_interface.py │ ├── run.py │ ├── utils │ ├── log_utils.py │ └── msg_utils.py │ └── wrapper.py ├── finetune.py ├── finetune.sh ├── glx_vla.yml ├── paligemma ├── __init__.py ├── configuration_paligemma.py ├── modeling_paligemma.py └── processing_paligemma.py ├── prismatic ├── __init__.py ├── conf │ ├── __init__.py │ ├── datasets.py │ ├── models.py │ └── vla.py ├── extern │ ├── __init__.py │ └── hf │ │ ├── __init__.py │ │ ├── configuration_prismatic.py │ │ ├── modeling_prismatic.py │ │ └── processing_prismatic.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── llm │ │ │ ├── __init__.py │ │ │ ├── base_llm.py │ │ │ ├── llama2.py │ │ │ ├── mistral.py │ │ │ ├── phi.py │ │ │ └── prompting │ │ │ │ ├── __init__.py │ │ │ │ ├── base_prompter.py │ │ │ │ ├── llama2_chat_prompter.py │ │ │ │ ├── mistral_instruct_prompter.py │ │ │ │ ├── phi_prompter.py │ │ │ │ └── vicuna_v15_prompter.py │ │ └── vision │ │ │ ├── __init__.py │ │ │ ├── base_vision.py │ │ │ ├── clip_vit.py │ │ │ ├── dinoclip_vit.py │ │ │ ├── dinosiglip_vit.py │ │ │ ├── dinov2_vit.py │ │ │ ├── in1k_vit.py │ │ │ └── siglip_vit.py │ ├── load.py │ ├── materialize.py │ ├── registry.py │ ├── vlas │ │ ├── __init__.py │ │ └── openvla.py │ └── vlms │ │ ├── __init__.py │ │ ├── base_vlm.py │ │ └── prismatic.py ├── overwatch │ ├── __init__.py │ └── overwatch.py ├── preprocessing │ ├── __init__.py │ ├── datasets │ │ ├── __init__.py │ │ └── datasets.py │ ├── download.py │ └── materialize.py ├── py.typed ├── training │ ├── __init__.py │ ├── materialize.py │ ├── metrics.py │ └── strategies │ │ ├── __init__.py │ │ ├── base_strategy.py │ │ ├── ddp.py │ │ └── fsdp.py ├── util │ ├── __init__.py │ ├── batching_utils.py │ ├── data_utils.py │ ├── nn_utils.py │ └── torch_utils.py └── vla │ ├── __init__.py │ ├── action_tokenizer.py │ ├── datasets │ ├── __init__.py │ ├── datasets.py │ ├── instructions │ │ └── __init__.py │ └── rlds │ │ ├── __init__.py │ │ ├── dataset.py │ │ ├── obs_transforms.py │ │ ├── oxe │ │ ├── __init__.py │ │ ├── configs.py │ │ ├── materialize.py │ │ ├── mixtures.py │ │ ├── transforms.py │ │ └── utils │ │ │ └── droid_utils.py │ │ ├── traj_transforms.py │ │ └── utils │ │ ├── __init__.py │ │ ├── data_utils.py │ │ ├── encoding.py │ │ ├── goal_relabeling.py │ │ └── task_augmentation.py │ └── materialize.py ├── pyproject.toml └── vla ├── config ├── config.py ├── import_utils.py └── r1_lite │ ├── config.py │ └── r1lite_fine_tune_example.yml ├── galaxea_zero.py ├── helper.py ├── load.py ├── model ├── g0 │ ├── galaxeazero.py │ ├── joint_model.py │ ├── mixture.py │ ├── modules.py │ ├── pizero.py │ └── processing.py ├── kv_cache.py ├── paligemma │ ├── config.py │ ├── modules.py │ ├── processing.py │ 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