├── .gitignore ├── README.md ├── assets ├── hardware.jpg ├── method.jpg └── teaser.jpg ├── attention_map_visualizer.py ├── controller ├── common │ ├── checkpoint_util.py │ ├── json_logger.py │ ├── pytorch_util.py │ ├── replay_buffer.py │ ├── sampler.py │ └── streaming_replay_buffer.py ├── config │ ├── task │ │ └── grasp.yaml │ └── train_dexgraspvla_controller_workspace.yaml ├── dataset │ ├── base_dataset.py │ └── mask_image_dataset.py ├── env_runner │ ├── base_image_runner.py │ └── real_grasp_image_runner.py ├── model │ ├── common │ │ ├── dict_of_tensor_mixin.py │ │ ├── lr_scheduler.py │ │ ├── module_attr_mixin.py │ │ └── normalizer.py │ ├── diffusion │ │ ├── ema_model.py │ │ └── transformer_for_action_diffusion.py │ └── vision │ │ └── obs_encoder.py ├── policy │ ├── base_image_policy.py │ └── dexgraspvla_controller.py └── workspace │ ├── base_workspace.py │ └── train_dexgraspvla_controller_workspace.py ├── inference.py ├── inference.sh ├── inference_utils ├── config.yaml └── utils.py ├── planner ├── dexgraspvla_planner.py └── utils.py ├── requirements.txt ├── train.py └── train.sh /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Psi-Robot/DexGraspVLA/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Psi-Robot/DexGraspVLA/HEAD/README.md -------------------------------------------------------------------------------- /assets/hardware.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Psi-Robot/DexGraspVLA/HEAD/assets/hardware.jpg -------------------------------------------------------------------------------- /assets/method.jpg: -------------------------------------------------------------------------------- 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