├── README.md ├── __pycache__ └── preprocessing_val_language.cpython-38.pyc ├── assets ├── augmentation.png ├── cabinet operations_c.gif ├── f1.png ├── opendoor_c 00_00_00-00_00_30.gif ├── penholder_c 00_00_00-00_00_30.gif ├── stacking_c 00_00_00-00_00_30.gif └── two-stage.png ├── calvin_agent ├── .gitignore ├── __init__.py ├── datasets │ ├── __init__.py │ ├── base_dataset.py │ ├── calvin_data_module.py │ ├── disk_dataset.py │ ├── random.py │ ├── shm_dataset.py │ └── utils │ │ ├── __init__.py │ │ ├── episode_utils.py │ │ └── shared_memory_utils.py ├── evaluation │ ├── __init__.py │ ├── evaluate_policy.py │ ├── evaluate_policy_singlestep.py │ ├── multistep_sequences.py │ └── utils.py ├── inference │ ├── __init__.py │ ├── rollouts_interactive.py │ ├── rollouts_training.py │ └── test_policy_interactive.py ├── models │ ├── __init__.py │ ├── calvin_base_model.py │ ├── decoders │ │ ├── __init__.py │ │ ├── action_decoder.py │ │ └── logistic_policy_network.py │ ├── encoders │ │ ├── __init__.py │ │ ├── goal_encoders.py │ │ └── language_network.py │ ├── mcil.py │ ├── perceptual_encoders │ │ ├── __init__.py │ │ ├── concat_encoders.py │ │ ├── proprio_encoder.py │ │ ├── tactile_encoder.py │ │ ├── vision_network.py │ │ └── vision_network_gripper.py │ └── plan_encoders │ │ ├── __init__.py │ │ ├── plan_proposal_net.py │ │ └── plan_recognition_net.py ├── rollout │ ├── __init__.py │ ├── rollout.py │ ├── rollout_long_horizon.py │ └── rollout_video.py ├── training.py ├── utils │ ├── __init__.py │ ├── automatic_lang_annotator_mp.py │ ├── compute_proprioception_statistics.py │ ├── create_splits.py │ ├── data_visualization.py │ ├── dataset_task_statistics.py │ ├── kl_callbacks.py │ ├── language_annotator.py │ ├── relabel_with_new_lang_model.py │ ├── transforms.py │ ├── utils.py │ ├── visualizations.py │ └── visualize_annotations.py ├── visualization │ ├── __init__.py │ └── tsne_plot.py └── wrappers │ └── calvin_env_wrapper.py ├── calvin_env ├── .flake8 ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── calvin_env │ ├── __init__.py │ ├── camera │ │ ├── __init__.py │ │ ├── camera.py │ │ ├── gripper_camera.py │ │ ├── static_camera.py │ │ └── tactile_sensor.py │ ├── datarenderer.py │ ├── envs │ │ ├── __init__.py │ │ ├── play_lmp_wrapper.py │ │ ├── play_table_env.py │ │ └── tasks.py │ ├── io_utils │ │ ├── data_recorder.py │ │ └── vr_input.py │ ├── robot │ │ ├── IKfast.py │ │ ├── __init__.py │ │ ├── mixed_ik.py │ │ └── robot.py │ ├── scene │ │ ├── __init__.py │ │ ├── objects │ │ │ ├── __init__.py │ │ │ ├── base_object.py │ │ │ ├── button.py │ │ │ ├── door.py │ │ │ ├── fixed_object.py │ │ │ ├── light.py │ │ │ ├── movable_object.py │ │ │ └── switch.py │ │ └── play_table_scene.py │ ├── scripts │ │ ├── check_tasks.py │ │ ├── convert_gripper_actions.py │ │ ├── dataset_to_euler.py │ │ ├── record_video_icra.py │ │ ├── render_low_freq.py │ │ ├── reset_env_rendered_episode.py │ │ └── unnormalize_depth.py │ ├── utils │ │ ├── __init__.py │ │ └── utils.py │ └── vrdatacollector.py ├── conf │ ├── cameras │ │ ├── cameras │ │ │ ├── gripper.yaml │ │ │ ├── opposing.yaml │ │ │ ├── static.yaml │ │ │ └── tactile.yaml │ │ ├── no_cameras.yaml │ │ ├── static_and_gripper.yaml │ │ ├── static_and_tactile.yaml │ │ └── static_gripper_tactile.yaml │ ├── config_data_collection.yaml │ ├── config_rendering.yaml │ ├── digit_sensor │ │ └── config_digit.yml │ ├── recorder │ │ └── recorder.yaml │ ├── robot │ │ ├── panda.yaml │ │ ├── panda_digit.yaml │ │ └── panda_longer_finger.yaml │ ├── scene │ │ ├── basic_playtable.yaml │ │ ├── basic_tabletop.yaml │ │ ├── calvin_scene_A.yaml │ │ ├── calvin_scene_B.yaml │ │ ├── calvin_scene_C.yaml │ │ ├── calvin_scene_D.yaml │ │ ├── calvin_scene_D_eval.yaml │ │ ├── empty_playtable.yaml │ │ ├── tabletop_1.yaml │ │ ├── tabletop_2.yaml │ │ └── tabletop_3.yaml │ ├── tasks │ │ ├── new_playtable_tasks.yaml │ │ └── play_table_tasks.yaml │ └── vr_input │ │ ├── vr_controller │ │ ├── oculus.yaml │ │ └── vive.yaml │ │ └── vr_input.yaml ├── data │ ├── blocks │ │ ├── block_blue.urdf │ │ ├── block_blue_big.urdf │ │ ├── block_blue_middle.urdf │ │ ├── block_blue_small.urdf │ │ ├── block_blue_unseen.urdf │ │ ├── block_pink.urdf │ │ ├── block_pink_big.urdf │ │ ├── block_pink_middle.urdf │ │ ├── block_pink_small.urdf │ │ ├── block_pink_unseen.urdf │ │ ├── block_red.urdf │ │ ├── block_red_big.urdf │ │ ├── block_red_middle.urdf │ │ ├── block_red_small.urdf │ │ ├── block_red_unseen.urdf │ │ └── block_square.stl │ ├── calvin_table_A │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.mtl │ │ │ ├── base_link.obj │ │ │ ├── button_link.STL │ │ │ ├── drawer_link.STL │ │ │ ├── drawer_link.mtl │ │ │ ├── drawer_link.obj │ │ │ ├── drawer_link_vhacd2.obj │ │ │ ├── led_link.STL │ │ │ ├── light_link.STL │ │ │ ├── plank_link.STL │ │ │ ├── plank_link.mtl │ │ │ ├── plank_link.obj │ │ │ ├── plank_link_vhacd2.obj │ │ │ ├── slide_link.STL │ │ │ ├── slide_link.mtl │ │ │ ├── slide_link.obj │ │ │ ├── slide_link_vhacd2.obj │ │ │ ├── switch_link.STL │ │ │ ├── switch_link.mtl │ │ │ ├── switch_link.obj │ │ │ └── switch_link_vhacd2.obj │ │ ├── textures │ │ │ ├── dark_wood.png │ │ │ ├── dark_wood__black_handle.png │ │ │ ├── dark_wood__gray_handle.png │ │ │ ├── light_wood.png │ │ │ ├── light_wood__black_handle.png │ │ │ ├── light_wood__gray_handle.png │ │ │ ├── wood.png │ │ │ ├── wood__black_handle.png │ │ │ └── wood__gray_handle.png │ │ └── urdf │ │ │ └── calvin_table_A.urdf │ ├── calvin_table_B │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.mtl │ │ │ ├── base_link.obj │ │ │ ├── base_link_vhacd2.obj │ │ │ ├── button_link.STL │ │ │ ├── drawer_link.STL │ │ │ ├── drawer_link.mtl │ │ │ ├── drawer_link.obj │ │ │ ├── drawer_link_vhacd2.obj │ │ │ ├── led_link.STL │ │ │ ├── light_link.STL │ │ │ ├── plank_link.STL │ │ │ ├── plank_link.mtl │ │ │ ├── plank_link.obj │ │ │ ├── plank_link_vhacd2.obj │ │ │ ├── slide_link.STL │ │ │ ├── slide_link.mtl │ │ │ ├── slide_link.obj │ │ │ ├── slide_link_vhacd2.obj │ │ │ ├── switch_link.STL │ │ │ ├── switch_link.mtl │ │ │ ├── switch_link.obj │ │ │ └── switch_link_vhacd2.obj │ │ ├── textures │ │ │ ├── dark_wood.png │ │ │ ├── dark_wood__black_handle.png │ │ │ ├── dark_wood__gray_handle.png │ │ │ ├── light_wood.png │ │ │ ├── light_wood__black_handle.png │ │ │ ├── light_wood__gray_handle.png │ │ │ ├── wood.png │ │ │ ├── wood__black_handle.png │ │ │ └── wood__gray_handle.png │ │ └── urdf │ │ │ └── calvin_table_B.urdf │ ├── calvin_table_C │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.mtl │ │ │ ├── base_link.obj │ │ │ ├── button_link.STL │ │ │ ├── drawer_link.STL │ │ │ ├── drawer_link.mtl │ │ │ ├── drawer_link.obj │ │ │ ├── drawer_link_vhacd2.obj │ │ │ ├── led_link.STL │ │ │ ├── light_link.STL │ │ │ ├── plank_link.STL │ │ │ ├── plank_link.mtl │ │ │ ├── plank_link.obj │ │ │ ├── plank_link_vhacd2.obj │ │ │ ├── slide_link.STL │ │ │ ├── slide_link.mtl │ │ │ ├── slide_link.obj │ │ │ ├── slide_link_vhacd2.obj │ │ │ ├── switch_link.STL │ │ │ ├── switch_link.mtl │ │ │ ├── switch_link.obj │ │ │ └── switch_link_vhacd2.obj │ │ ├── textures │ │ │ ├── dark_wood.png │ │ │ ├── dark_wood__black_handle.png │ │ │ ├── dark_wood__gray_handle.png │ │ │ ├── light_wood.png │ │ │ ├── light_wood__black_handle.png │ │ │ ├── light_wood__gray_handle.png │ │ │ ├── wood.png │ │ │ ├── wood__black_handle.png │ │ │ └── wood__gray_handle.png │ │ └── urdf │ │ │ └── calvin_table_C.urdf │ ├── calvin_table_D │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link.mtl │ │ │ ├── base_link.obj │ │ │ ├── button_link.STL │ │ │ ├── drawer_link.STL │ │ │ ├── drawer_link.mtl │ │ │ ├── drawer_link.obj │ │ │ ├── drawer_link_vhacd2.obj │ │ │ ├── led_link.STL │ │ │ ├── light_link.STL │ │ │ ├── plank_link.STL │ │ │ ├── plank_link.mtl │ │ │ ├── plank_link.obj │ │ │ ├── plank_link_vhacd2.obj │ │ │ ├── slide_link.STL │ │ │ ├── slide_link.mtl │ │ │ ├── slide_link.obj │ │ │ ├── slide_link_vhacd2.obj │ │ │ ├── switch_link.STL │ │ │ ├── switch_link.mtl │ │ │ ├── switch_link.obj │ │ │ └── switch_link_vhacd2.obj │ │ ├── textures │ │ │ ├── dark_wood.png │ │ │ ├── dark_wood__black_handle.png │ │ │ ├── dark_wood__gray_handle.png │ │ │ ├── light_wood.png │ │ │ ├── light_wood__black_handle.png │ │ │ ├── light_wood__gray_handle.png │ │ │ ├── wood.png │ │ │ ├── wood__black_handle.png │ │ │ └── wood__gray_handle.png │ │ └── urdf │ │ │ └── calvin_table_D.urdf │ ├── franka_panda │ │ ├── LICENSE.txt │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── finger.obj │ │ │ │ ├── hand.obj │ │ │ │ ├── link0.obj │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.mtl │ │ │ │ ├── link6.obj │ │ │ │ ├── link7.obj │ │ │ │ ├── longer_finger.mtl │ │ │ │ ├── longer_finger.obj │ │ │ │ ├── longer_finger_v2.mtl │ │ │ │ └── longer_finger_v2.obj │ │ │ └── visual │ │ │ │ ├── Assem1.SLDASM │ │ │ │ ├── FRANKA_Finger.SLDPRT │ │ │ │ ├── colors.png │ │ │ │ ├── digit.STL │ │ │ │ ├── digit_gel_only.STL │ │ │ │ ├── finger.SLDPRT │ │ │ │ ├── finger.mtl │ │ │ │ ├── finger.obj │ │ │ │ ├── hand.mtl │ │ │ │ ├── hand.obj │ │ │ │ ├── link1.mtl │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.mtl │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.mtl │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.mtl │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.mtl │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.mtl │ │ │ │ ├── link6.obj │ │ │ │ ├── longer_finger.STL │ │ │ │ ├── longer_finger.mtl │ │ │ │ ├── longer_finger.obj │ │ │ │ ├── longer_finger_v2.STL │ │ │ │ ├── longer_finger_v2.mtl │ │ │ │ ├── longer_finger_v2.obj │ │ │ │ ├── visualShapeBench.json_0.json │ │ │ │ ├── ~$Assem1.SLDASM │ │ │ │ ├── ~$FRANKA_Finger.SLDPRT │ │ │ │ └── ~$finger.SLDPRT │ │ ├── panda.urdf │ │ ├── panda_digit.urdf │ │ └── panda_longer_finger.urdf │ └── plane │ │ ├── checker_blue.png │ │ ├── plane.mtl │ │ ├── plane.obj │ │ └── plane.urdf ├── egl_check │ ├── EGL_options.cpp │ ├── EGL_options.h │ ├── EGL_options.o_ │ ├── README.md │ ├── build.sh │ ├── glad │ │ ├── EGL │ │ │ └── eglplatform.h │ │ ├── KHR │ │ │ └── khrplatform.h │ │ ├── egl.c │ │ ├── gl.c │ │ ├── glad │ │ │ ├── egl.h │ │ │ ├── gl.h │ │ │ └── glx.h │ │ ├── glx.c │ │ └── linmath.h │ └── list_egl_options.py ├── pyproject.toml ├── requirements-dev.txt ├── requirements.txt └── setup.py ├── calvin_models ├── Calvin.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ ├── not-zip-safe │ ├── requires.txt │ └── top_level.txt ├── calvin_agent │ ├── .gitignore │ ├── __init__.py │ ├── datasets │ │ ├── __init__.py │ │ ├── base_dataset.py │ │ ├── calvin_data_module.py │ │ ├── disk_dataset.py │ │ ├── random.py │ │ ├── shm_dataset.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── episode_utils.py │ │ │ └── shared_memory_utils.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── evaluate_policy.py │ │ ├── evaluate_policy_singlestep.py │ │ ├── multistep_sequences.py │ │ └── utils.py │ ├── inference │ │ ├── __init__.py │ │ ├── rollouts_interactive.py │ │ ├── rollouts_training.py │ │ └── test_policy_interactive.py │ ├── models │ │ ├── __init__.py │ │ ├── calvin_base_model.py │ │ ├── decoders │ │ │ ├── __init__.py │ │ │ ├── action_decoder.py │ │ │ └── logistic_policy_network.py │ │ ├── encoders │ │ │ ├── __init__.py │ │ │ ├── goal_encoders.py │ │ │ └── language_network.py │ │ ├── mcil.py │ │ ├── perceptual_encoders │ │ │ ├── __init__.py │ │ │ ├── concat_encoders.py │ │ │ ├── proprio_encoder.py │ │ │ ├── tactile_encoder.py │ │ │ ├── vision_network.py │ │ │ └── vision_network_gripper.py │ │ └── plan_encoders │ │ │ ├── __init__.py │ │ │ ├── plan_proposal_net.py │ │ │ └── plan_recognition_net.py │ ├── rollout │ │ ├── __init__.py │ │ ├── rollout.py │ │ ├── rollout_long_horizon.py │ │ └── rollout_video.py │ ├── training.py │ ├── utils │ │ ├── __init__.py │ │ ├── automatic_lang_annotator_mp.py │ │ ├── compute_proprioception_statistics.py │ │ ├── create_splits.py │ │ ├── data_visualization.py │ │ ├── dataset_task_statistics.py │ │ ├── kl_callbacks.py │ │ ├── language_annotator.py │ │ ├── relabel_with_new_lang_model.py │ │ ├── transforms.py │ │ ├── utils.py │ │ ├── visualizations.py │ │ └── visualize_annotations.py │ ├── visualization │ │ ├── __init__.py │ │ └── tsne_plot.py │ └── wrappers │ │ └── calvin_env_wrapper.py ├── conf │ ├── annotations │ │ ├── new_playtable.yaml │ │ └── new_playtable_validation.yaml │ ├── callbacks │ │ ├── checkpoint │ │ │ ├── lh_sr.yaml │ │ │ ├── save_all.yaml │ │ │ ├── task_sr.yaml │ │ │ └── val_action.yaml │ │ ├── default.yaml │ │ ├── kl_schedule │ │ │ ├── constant.yaml │ │ │ ├── linear.yaml │ │ │ └── sigmoid.yaml │ │ ├── rollout │ │ │ ├── default.yaml │ │ │ └── tasks │ │ │ │ └── new_playtable_tasks.yaml │ │ ├── rollout_lh │ │ │ └── default.yaml │ │ └── tsne_plot │ │ │ └── default.yaml │ ├── config.yaml │ ├── datamodule │ │ ├── datasets │ │ │ ├── lang_dataset │ │ │ │ ├── lang.yaml │ │ │ │ └── lang_shm.yaml │ │ │ ├── vision_dataset │ │ │ │ ├── vision.yaml │ │ │ │ └── vision_shm.yaml │ │ │ ├── vision_lang.yaml │ │ │ ├── vision_lang_shm.yaml │ │ │ └── vision_only.yaml │ │ ├── default.yaml │ │ ├── observation_space │ │ │ ├── all_mods_abs_act.yaml │ │ │ ├── all_mods_rel_act.yaml │ │ │ ├── lang_rgb_static_abs_act.yaml │ │ │ ├── lang_rgb_static_gripper_abs_act.yaml │ │ │ ├── lang_rgb_static_gripper_rel_act.yaml │ │ │ ├── lang_rgb_static_rel_act.yaml │ │ │ ├── lang_rgb_static_robot_scene_abs_act.yaml │ │ │ ├── lang_rgb_static_tactile_abs_act.yaml │ │ │ ├── lang_rgb_static_tactile_rel_act.yaml │ │ │ ├── lang_rgbd_both_abs_act.yaml │ │ │ ├── lang_rgbd_both_rel_act.yaml │ │ │ ├── lang_rgbd_static_gripper_rel_act.yaml │ │ │ ├── lang_rgbd_static_robot_abs_act.yaml │ │ │ └── state_only.yaml │ │ ├── proprioception_dims │ │ │ ├── none.yaml │ │ │ ├── robot_full.yaml │ │ │ ├── robot_no_joints.yaml │ │ │ └── robot_scene.yaml │ │ ├── random.yaml │ │ └── transforms │ │ │ └── play_basic.yaml │ ├── inference │ │ └── config_inference.yaml │ ├── lang_ann.yaml │ ├── logger │ │ ├── tb_logger.yaml │ │ └── wandb.yaml │ ├── loss │ │ └── default.yaml │ ├── model │ │ ├── action_decoder │ │ │ └── logistic.yaml │ │ ├── default.yaml │ │ ├── language_goal │ │ │ ├── default.yaml │ │ │ └── none.yaml │ │ ├── optimizer │ │ │ ├── adam.yaml │ │ │ ├── adamw.yaml │ │ │ └── sgd.yaml │ │ ├── perceptual_encoder │ │ │ ├── RGBD_both.yaml │ │ │ ├── default.yaml │ │ │ ├── depth_gripper │ │ │ │ ├── default.yaml │ │ │ │ └── none.yaml │ │ │ ├── depth_static │ │ │ │ ├── default.yaml │ │ │ │ └── none.yaml │ │ │ ├── gripper_cam.yaml │ │ │ ├── proprio │ │ │ │ └── identity.yaml │ │ │ ├── static_RGBD.yaml │ │ │ ├── static_RGB_tactile.yaml │ │ │ ├── tactile │ │ │ │ ├── default.yaml │ │ │ │ └── none.yaml │ │ │ ├── vision_gripper │ │ │ │ ├── default.yaml │ │ │ │ └── none.yaml │ │ │ └── vision_static │ │ │ │ └── default.yaml │ │ ├── plan_proposal │ │ │ └── default.yaml │ │ ├── plan_recognition │ │ │ └── default.yaml │ │ ├── sbert.yaml │ │ └── visual_goal │ │ │ └── default.yaml │ ├── trainer │ │ └── play_trainer.yaml │ └── training │ │ └── default_training.yaml ├── requirements.txt └── setup.py ├── config_path.json ├── evaluation_calvin.py ├── my_models └── DDP_training │ ├── ModalityFusioner.py │ ├── __pycache__ │ ├── ModalityFusioner.cpython-38.pyc │ ├── data_enhence.cpython-38.pyc │ ├── data_random.cpython-38.pyc │ ├── diffusion_modules.cpython-310.pyc │ ├── diffusion_modules.cpython-38.pyc │ ├── my_utils.cpython-38.pyc │ ├── positional_encoding.cpython-38.pyc │ ├── pretrain_data_random.cpython-38.pyc │ └── transformer_agent.cpython-38.pyc │ ├── config │ └── read_json.py │ ├── data_enhence.py │ ├── data_random.py │ ├── diffusion_modules.py │ ├── log │ ├── 2025-02-02-21-38-47 │ │ └── events.out.tfevents.1738503527.wibot-ub-cyp.2248120.0 │ ├── 2025-02-10-09-37-41 │ │ └── events.out.tfevents.1739151461.wibot-ub-cyp.71224.0 │ ├── 2025-02-10-09-55-22 │ │ └── events.out.tfevents.1739152522.wibot-ub-cyp.127921.0 │ ├── 2025-02-10-10-01-13 │ │ └── events.out.tfevents.1739152873.wibot-ub-cyp.146316.0 │ └── 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