├── .idea ├── .gitignore ├── .name ├── aws.xml ├── inspectionProfiles │ ├── Project_Default.xml │ └── profiles_settings.xml ├── misc.xml ├── modules.xml ├── saycanpay.iml └── vcs.xml ├── AAAI-24_logo.svg ├── README.md ├── babyai ├── LICENSE ├── babyai │ ├── __init__.py │ ├── arguments.py │ ├── bot.py │ ├── efficiency.py │ ├── evaluate.py │ ├── imitation.py │ ├── model.py │ ├── plotting.py │ └── utils │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── demos.py │ │ ├── format.py │ │ ├── log.py │ │ └── model.py ├── babyai_utils.py ├── cfg │ ├── config.yaml │ ├── inference.yaml │ └── train.yaml ├── demo.py ├── pickup │ └── data │ │ ├── lm-plans │ │ ├── test-executable │ │ │ ├── flan_t5 │ │ │ │ ├── beam_action-say │ │ │ │ │ └── 2023-07-10 08:37 │ │ │ │ ├── beam_action-say_can │ │ │ │ │ ├── 2023-07-10 09:34 │ │ │ │ │ └── 2023-07-10 20:28 │ │ │ │ ├── beam_action-say_can_progress │ │ │ │ │ ├── 2023-07-10 10:17 │ │ │ │ │ └── 2023-07-10 21:22 │ │ │ │ ├── greedy_action-say │ │ │ │ │ └── 2023-07-02 13:51 │ │ │ │ ├── greedy_action-say_can │ │ │ │ │ ├── 2023-07-02 09:12 │ │ │ │ │ └── 2023-07-02 14:30 │ │ │ │ ├── greedy_action-say_can_progress │ │ │ │ │ ├── 2023-07-02 06:28 │ │ │ │ │ └── 2023-07-02 14:54 │ │ │ │ └── greedy_token-say │ │ │ │ │ └── 2023-07-02 13:37 │ │ │ └── vicuna │ │ │ │ ├── beam_action-say │ │ │ │ └── 2023-07-10 03:01 │ │ │ │ ├── beam_action-say_can │ │ │ │ └── 2023-07-10 03:55 │ │ │ │ ├── beam_action-say_can_progress │ │ │ │ └── 2023-07-10 04:47 │ │ │ │ ├── greedy_action-say │ │ │ │ └── 2023-07-03 05:16 │ │ │ │ ├── greedy_action-say_can │ │ │ │ ├── 2023-06-21 20:32 │ │ │ │ └── 2023-06-22 04:24 │ │ │ │ ├── greedy_action-say_can_progress │ │ │ │ └── 2023-06-21 21:56 │ │ │ │ └── greedy_token-say │ │ │ │ ├── 2023-06-12 17:49 │ │ │ │ └── 2023-06-12 18:04 │ │ ├── test-generalize │ │ │ ├── flan_t5 │ │ │ │ ├── beam_action-say │ │ │ │ │ └── 2023-07-24 15:41 │ │ │ │ ├── beam_action-say_can │ │ │ │ │ └── 2023-07-24 16:38 │ │ │ │ ├── beam_action-say_can_progress │ │ │ │ │ └── 2023-07-24 17:36 │ │ │ │ ├── greedy_action-say │ │ │ │ │ └── 2023-07-24 14:31 │ │ │ │ ├── greedy_action-say_can │ │ │ │ │ └── 2023-07-24 14:56 │ │ │ │ ├── greedy_action-say_can_progress │ │ │ │ │ └── 2023-07-24 15:21 │ │ │ │ └── greedy_token-say │ │ │ │ │ └── 2023-07-24 14:17 │ │ │ └── vicuna │ │ │ │ ├── beam_action-say │ │ │ │ └── 2023-07-24 10:58 │ │ │ │ ├── beam_action-say_can │ │ │ │ └── 2023-07-24 12:10 │ │ │ │ ├── beam_action-say_can_progress │ │ │ │ └── 2023-07-24 13:11 │ │ │ │ ├── greedy_action-say │ │ │ │ └── 2023-07-24 09:12 │ │ │ │ ├── greedy_action-say_can │ │ │ │ └── 2023-07-24 09:51 │ │ │ │ ├── greedy_action-say_can_progress │ │ │ │ └── 2023-07-24 10:28 │ │ │ │ └── greedy_token-say │ │ │ │ └── 2023-07-24 08:32 │ │ └── test-optimal │ │ │ ├── flan_t5 │ │ │ ├── beam_action-say │ │ │ │ ├── 2023-07-10 10:56 │ │ │ │ └── 2023-07-10 22:11 │ │ │ ├── beam_action-say_can │ │ │ │ ├── 2023-07-10 11:55 │ │ │ │ └── 2023-07-10 23:34 │ │ │ ├── beam_action-say_can_progress │ │ │ │ ├── 2023-07-10 20:06 │ │ │ │ └── 2023-07-11 00:34 │ │ │ ├── greedy_action-say │ │ │ │ └── 2023-07-02 19:06 │ │ │ ├── greedy_action-say_can │ │ │ │ ├── 2023-07-02 10:46 │ │ │ │ └── 2023-07-02 19:51 │ │ │ ├── greedy_action-say_can_progress │ │ │ │ ├── 2023-07-02 07:44 │ │ │ │ └── 2023-07-02 20:17 │ │ │ └── greedy_token-say │ │ │ │ └── 2023-07-02 18:52 │ │ │ └── vicuna │ │ │ ├── beam_action-say │ │ │ └── 2023-07-10 05:42 │ │ │ ├── beam_action-say_can │ │ │ └── 2023-07-10 06:46 │ │ │ ├── beam_action-say_can_progress │ │ │ └── 2023-07-10 07:45 │ │ │ ├── greedy_action-say │ │ │ └── 2023-06-21 08:27 │ │ │ ├── greedy_action-say_can │ │ │ ├── 2023-06-21 09:27 │ │ │ └── 2023-06-21 18:21 │ │ │ ├── greedy_action-say_can_progress │ │ │ ├── 2023-06-21 14:20 │ │ │ └── 2023-06-21 19:27 │ │ │ └── greedy_token-say │ │ │ └── 2023-06-13 18:29 │ │ └── oracle-plans │ │ ├── test-executable │ │ └── 2023-06-12 13:53 │ │ ├── test-generalize │ │ └── 2023-07-24 08:29 │ │ ├── test-optimal │ │ └── 2023-06-12 13:53 │ │ └── train │ │ └── 2023-06-15 13:14 ├── run_tests.py ├── scripts │ ├── compare_dataeff.py │ ├── compute_possible_instructions.py │ ├── enjoy.py │ ├── eval_bot.py │ ├── evaluate.py │ ├── evaluate_all_demos.py │ ├── evaluate_all_models.py │ ├── il_dataeff.py │ ├── il_perf.py │ ├── make_agent_demos.py │ ├── manual_control.py │ ├── rl_dataeff.py │ ├── show_level_instructions.py │ ├── train_il.py │ ├── train_intelligent_expert.py │ └── train_rl.py ├── setup.py └── unlock.py ├── docker ├── Dockerfile └── requirements.txt ├── merged-saycanpay.gif ├── planLM ├── __init__.py ├── babyai_inference.py ├── babyai_planner.py ├── data_utils.py ├── lm_planner_base.py ├── prompts │ ├── __init__.py │ ├── babyai │ │ └── babyai_pickup.py │ ├── ravens │ │ ├── put_block_in_bowl.py │ │ └── towers_of_hanoi_seq.py │ └── virtualhome │ │ └── virtualhome.py ├── ravens_inference.py ├── ravens_planner.py ├── run_multiple.sh ├── train │ ├── babyai_train.py │ ├── dataset.py │ ├── ravens_train.py │ ├── virtualhome_dataset.py │ └── virtualhome_train.py ├── virtualhome_inference.py └── virtualhome_planner.py ├── ravens ├── 0_VRDemoSettings.txt ├── LICENSE ├── put-block-in-bowl │ └── data │ │ ├── lm-plans │ │ ├── test-executable │ │ │ ├── flan_t5 │ │ │ │ ├── beam_action-say │ │ │ │ │ └── 2023-07-09 18:00 │ │ │ │ ├── beam_action-say_can │ │ │ │ │ └── 2023-07-09 18:36 │ │ │ │ ├── beam_action-say_can_progress │ │ │ │ │ └── 2023-07-09 19:11 │ │ │ │ ├── greedy_action-say │ │ │ │ │ └── 2023-06-22 22:32 │ │ │ │ ├── greedy_action-say_can │ │ │ │ │ └── 2023-06-27 14:29 │ │ │ │ ├── greedy_action-say_can_progress │ │ │ │ │ └── 2023-06-27 12:20 │ │ │ │ └── greedy_token-say │ │ │ │ │ └── 2023-06-22 22:11 │ │ │ └── vicuna │ │ │ │ ├── beam_action-say │ │ │ │ └── 2023-07-09 08:29 │ │ │ │ ├── beam_action-say_can │ │ │ │ ├── 2023-07-04 07:40 │ │ │ │ └── 2023-07-09 09:31 │ │ │ │ ├── beam_action-say_can_progress │ │ │ │ └── 2023-07-09 10:25 │ │ │ │ ├── greedy_action-say │ │ │ │ └── 2023-07-04 17:28 │ │ │ │ ├── greedy_action-say_can │ │ │ │ └── 2023-07-04 18:19 │ │ │ │ ├── greedy_action-say_can_progress │ │ │ │ └── 2023-07-04 22:35 │ │ │ │ └── greedy_token-say │ │ │ │ └── 2023-07-04 16:50 │ │ ├── test-generalize │ │ │ ├── flan_t5 │ │ │ │ ├── beam_action-say │ │ │ │ │ └── 2023-07-09 21:35 │ │ │ │ ├── beam_action-say_can │ │ │ │ │ └── 2023-07-09 22:39 │ │ │ │ ├── beam_action-say_can_progress │ │ │ │ │ └── 2023-07-09 23:42 │ │ │ │ ├── greedy_action-say │ │ │ │ │ └── 2023-06-23 00:29 │ │ │ │ ├── greedy_action-say_can │ │ │ │ │ └── 2023-06-27 15:58 │ │ │ │ ├── greedy_action-say_can_progress │ │ │ │ │ ├── 2023-06-27 06:32 │ │ │ │ │ ├── 2023-06-27 08:51 │ │ │ │ │ └── 2023-06-27 16:49 │ │ │ │ └── greedy_token-say │ │ │ │ │ └── 2023-06-22 23:53 │ │ │ └── vicuna │ │ │ │ ├── beam_action-say │ │ │ │ └── 2023-07-09 13:59 │ │ │ │ ├── beam_action-say_can │ │ │ │ └── 2023-07-09 15:22 │ │ │ │ ├── beam_action-say_can_progress │ │ │ │ └── 2023-07-09 16:41 │ │ │ │ ├── greedy_action-say │ │ │ │ └── 2023-07-05 02:57 │ │ │ │ ├── greedy_action-say_can │ │ │ │ └── 2023-07-05 04:09 │ │ │ │ ├── greedy_action-say_can_progress │ │ │ │ └── 2023-07-05 05:18 │ │ │ │ └── greedy_token-say │ │ │ │ └── 2023-07-05 02:18 │ │ └── test-optimal │ │ │ ├── flan_t5 │ │ │ ├── beam_action-say │ │ │ │ └── 2023-07-09 19:47 │ │ │ ├── beam_action-say_can │ │ │ │ └── 2023-07-09 20:23 │ │ │ ├── beam_action-say_can_progress │ │ │ │ └── 2023-07-09 21:00 │ │ │ ├── greedy_action-say │ │ │ │ └── 2023-06-22 23:22 │ │ │ ├── greedy_action-say_can │ │ │ │ └── 2023-06-27 14:58 │ │ │ ├── greedy_action-say_can_progress │ │ │ │ └── 2023-06-29 15:55 │ │ │ └── greedy_token-say │ │ │ │ └── 2023-06-22 23:02 │ │ │ └── vicuna │ │ │ ├── beam_action-say │ │ │ └── 2023-07-09 11:14 │ │ │ ├── beam_action-say_can │ │ │ └── 2023-07-09 12:16 │ │ │ ├── beam_action-say_can_progress │ │ │ └── 2023-07-09 13:09 │ │ │ ├── greedy_action-say │ │ │ └── 2023-07-05 00:00 │ │ │ ├── greedy_action-say_can │ │ │ └── 2023-07-05 00:54 │ │ │ ├── greedy_action-say_can_progress │ │ │ └── 2023-07-05 01:39 │ │ │ └── greedy_token-say │ │ │ └── 2023-07-04 23:20 │ │ ├── oracle-plans │ │ ├── test-executable │ │ │ └── 2023-06-22 16:18 │ │ ├── test-generalize │ │ │ └── 2023-06-22 16:20 │ │ ├── test-optimal │ │ │ └── 2023-06-22 16:19 │ │ └── train │ │ │ └── 2023-06-22 16:09 │ │ └── train-preprocess ├── ravens │ ├── __init__.py │ ├── cfg │ │ ├── config.yaml │ │ ├── inference.yaml │ │ └── train.yaml │ ├── dataset.py │ ├── demos.py │ ├── environments │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── bags │ │ │ │ ├── bl_sphere_bag_basic_000.mtl │ │ │ │ ├── bl_sphere_bag_basic_000.obj │ │ │ │ ├── bl_sphere_bag_basic_001.mtl │ │ │ │ ├── bl_sphere_bag_basic_001.obj │ │ │ │ ├── bl_sphere_bag_basic_002.mtl │ │ │ │ ├── bl_sphere_bag_basic_002.obj │ │ │ │ ├── bl_sphere_bag_basic_003.mtl │ │ │ │ ├── bl_sphere_bag_basic_003.obj │ │ │ │ ├── bl_sphere_bag_basic_004.mtl │ │ │ │ ├── bl_sphere_bag_basic_004.obj │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.1_numV_257.mtl │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.1_numV_257.obj │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.1_numV_257_top_ring.txt │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.3_numV_289.mtl │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.3_numV_289.obj │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.3_numV_289_top_ring.txt │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.4_numV_321.mtl │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.4_numV_321.obj │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.4_numV_321_top_ring.txt │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.6_numV_353.mtl │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.6_numV_353.obj │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.6_numV_353_top_ring.txt │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.8_numV_385.mtl │ │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.8_numV_385.obj │ │ │ │ └── bl_sphere_bag_rad_1.0_zthresh_0.8_numV_385_top_ring.txt │ │ │ ├── block │ │ │ │ ├── block.urdf │ │ │ │ ├── block_for_anchors.urdf │ │ │ │ └── small.urdf │ │ │ ├── bowl │ │ │ │ ├── bowl.urdf │ │ │ │ ├── cup.obj │ │ │ │ └── textured-0008192.obj │ │ │ ├── box │ │ │ │ └── box-template.urdf │ │ │ ├── cable │ │ │ │ └── cable.urdf │ │ │ ├── cloth │ │ │ │ ├── bl_cloth_05_cuts.obj │ │ │ │ ├── bl_cloth_10_cuts.obj │ │ │ │ ├── bl_cloth_15_cuts.obj │ │ │ │ ├── bl_cloth_20_cuts.obj │ │ │ │ ├── bl_cloth_25_cuts.obj │ │ │ │ ├── cloth.obj │ │ │ │ └── cloth_z_up.obj │ │ │ ├── container │ │ │ │ └── container-template.urdf │ │ │ ├── corner │ │ │ │ └── corner-template.urdf │ │ │ ├── hanoi │ │ │ │ ├── block.urdf │ │ │ │ ├── disk0.obj │ │ │ │ ├── disk0.urdf │ │ │ │ ├── disk1.obj │ │ │ │ ├── disk1.urdf │ │ │ │ ├── disk2.obj │ │ │ │ ├── disk2.urdf │ │ │ │ ├── disk3.obj │ │ │ │ ├── disk3.urdf │ │ │ │ ├── slimdisk.urdf │ │ │ │ └── stand.urdf │ │ │ ├── insertion │ │ │ │ ├── ell.urdf │ │ │ │ └── fixture.urdf │ │ │ ├── kitting │ │ │ │ ├── 00.obj │ │ │ │ ├── 01.obj │ │ │ │ ├── 02.obj │ │ │ │ ├── 03.obj │ │ │ │ ├── 04.obj │ │ │ │ ├── 05.obj │ │ │ │ ├── 06.obj │ │ │ │ ├── 07.obj │ │ │ │ ├── 08.obj │ │ │ │ ├── 09.obj │ │ │ │ ├── 10.obj │ │ │ │ ├── 11.obj │ │ │ │ ├── 12.obj │ │ │ │ ├── 13.obj │ │ │ │ ├── 14.obj │ │ │ │ ├── 15.obj │ │ │ │ ├── 16.obj │ │ │ │ ├── 17.obj │ │ │ │ ├── 18.obj │ │ │ │ ├── 19.obj │ │ │ │ ├── kit.urdf │ │ │ │ └── object-template.urdf │ │ │ ├── line │ │ │ │ ├── line-template.urdf │ │ │ │ └── line.obj │ │ │ ├── pallet │ │ │ │ ├── pallet.obj │ │ │ │ └── pallet.urdf │ │ │ ├── plane │ │ │ │ ├── checker_blue.png │ │ │ │ ├── plane.mtl │ │ │ │ ├── plane.urdf │ │ │ │ └── plane100.obj │ │ │ ├── rectangle │ │ │ │ ├── rectangle-template-sides-1.urdf │ │ │ │ ├── rectangle-template-sides-2.urdf │ │ │ │ ├── rectangle-template-sides-3.urdf │ │ │ │ └── rectangle-template-sides-4.urdf │ │ │ ├── square │ │ │ │ ├── square-template-allsides-blue.urdf │ │ │ │ ├── square-template-allsides-green.urdf │ │ │ │ └── square-template.urdf │ │ │ ├── stacking │ │ │ │ ├── block.urdf │ │ │ │ └── stand.urdf │ │ │ ├── ur5 │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ ├── gripper │ │ │ │ │ ├── robotiq-2f-base.mtl │ │ │ │ │ ├── robotiq-2f-base.obj │ │ │ │ │ ├── robotiq-2f-base.stl │ │ │ │ │ ├── robotiq-2f-coupler.mtl │ │ │ │ │ ├── robotiq-2f-coupler.obj │ │ │ │ │ ├── robotiq-2f-coupler.stl │ │ │ │ │ ├── robotiq-2f-driver.mtl │ │ │ │ │ ├── robotiq-2f-driver.obj │ │ │ │ │ ├── robotiq-2f-driver.stl │ │ │ │ │ ├── robotiq-2f-follower.mtl │ │ │ │ │ ├── robotiq-2f-follower.obj │ │ │ │ │ ├── robotiq-2f-follower.stl │ │ │ │ │ ├── robotiq-2f-pad.stl │ │ │ │ │ ├── robotiq-2f-spring_link.mtl │ │ │ │ │ ├── robotiq-2f-spring_link.obj │ │ │ │ │ ├── robotiq-2f-spring_link.stl │ │ │ │ │ ├── robotiq_2f_85.urdf │ │ │ │ │ └── textures │ │ │ │ │ │ ├── gripper-2f_BaseColor.jpg │ │ │ │ │ │ ├── gripper-2f_Metallic.jpg │ │ │ │ │ │ ├── gripper-2f_Normal.jpg │ │ │ │ │ │ └── gripper-2f_Roughness.jpg │ │ │ │ ├── license.txt │ │ │ │ ├── plane.obj │ │ │ │ ├── spatula │ │ │ │ │ ├── base.obj │ │ │ │ │ └── spatula-base.urdf │ │ │ │ ├── suction │ │ │ │ │ ├── base.obj │ │ │ │ │ ├── head.obj │ │ │ │ │ ├── mid.obj │ │ │ │ │ ├── suction-base.urdf │ │ │ │ │ ├── suction-head.urdf │ │ │ │ │ └── tip.obj │ │ │ │ ├── ur5.urdf │ │ │ │ ├── visual │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ └── workspace.urdf │ │ │ └── zone │ │ │ │ ├── zone-template.urdf │ │ │ │ ├── zone.obj │ │ │ │ └── zone.urdf │ │ ├── environment.py │ │ └── environment_test.py │ ├── tasks │ │ ├── __init__.py │ │ ├── align_box_corner.py │ │ ├── align_rope.py │ │ ├── assembling_kits.py │ │ ├── assembling_kits_seq.py │ │ ├── block_insertion.py │ │ ├── cameras.py │ │ ├── grippers.py │ │ ├── manipulating_rope.py │ │ ├── packing_boxes.py │ │ ├── packing_boxes_pairs.py │ │ ├── packing_google_objects.py │ │ ├── packing_shapes.py │ │ ├── palletizing_boxes.py │ │ ├── place_red_in_green.py │ │ ├── primitives.py │ │ ├── put_block_in_bowl.py │ │ ├── separating_piles.py │ │ ├── stack_block_pyramid.py │ │ ├── stack_block_pyramid_seq.py │ │ ├── sweeping_piles.py │ │ ├── task.py │ │ ├── towers_of_hanoi.py │ │ └── towers_of_hanoi_seq.py │ └── utils │ │ ├── __init__.py │ │ ├── bpe_simple_vocab_16e6.txt.gz │ │ ├── pybullet_utils.py │ │ ├── text_window.py │ │ └── utils.py ├── scripts │ ├── google_objects_download.sh │ └── install_deps.sh └── towers-of-hanoi-seq │ └── data │ ├── lm-plans │ ├── test-executable │ │ ├── flan_t5 │ │ │ ├── beam_action-say │ │ │ │ └── 2023-07-09 03:39 │ │ │ ├── beam_action-say_can │ │ │ │ └── 2023-07-09 04:02 │ │ │ ├── beam_action-say_can_progress │ │ │ │ └── 2023-07-09 04:23 │ │ │ ├── greedy_action-say │ │ │ │ └── 2023-06-18 06:35 │ │ │ ├── greedy_action-say_can │ │ │ │ └── 2023-06-22 07:18 │ │ │ ├── greedy_action-say_can_progress │ │ │ │ └── 2023-06-29 14:34 │ │ │ └── greedy_token-say │ │ │ │ └── 2023-06-18 06:25 │ │ └── vicuna │ │ │ ├── beam_action-say │ │ │ └── 2023-07-08 17:37 │ │ │ ├── beam_action-say_can │ │ │ └── 2023-07-08 18:12 │ │ │ ├── beam_action-say_can_progress │ │ │ └── 2023-07-08 18:47 │ │ │ ├── greedy_action-say │ │ │ └── 2023-06-22 12:21 │ │ │ ├── greedy_action-say_can │ │ │ └── 2023-07-08 08:21 │ │ │ ├── greedy_action-say_can_progress │ │ │ └── 2023-06-22 09:04 │ │ │ └── greedy_token-say │ │ │ └── 2023-06-22 12:04 │ ├── test-generalize │ │ ├── flan_t5 │ │ │ ├── beam_action-say │ │ │ │ └── 2023-07-09 05:41 │ │ │ ├── beam_action-say_can │ │ │ │ └── 2023-07-09 06:02 │ │ │ ├── beam_action-say_can_progress │ │ │ │ └── 2023-07-09 06:24 │ │ │ ├── greedy_action-say │ │ │ │ └── 2023-06-22 15:16 │ │ │ ├── greedy_action-say_can │ │ │ │ └── 2023-06-22 15:33 │ │ │ ├── greedy_action-say_can_progress │ │ │ │ └── 2023-06-22 15:50 │ │ │ └── greedy_token-say │ │ │ │ └── 2023-06-22 15:06 │ │ └── vicuna │ │ │ ├── beam_action-say │ │ │ └── 2023-07-08 20:55 │ │ │ ├── beam_action-say_can │ │ │ └── 2023-07-08 21:51 │ │ │ ├── beam_action-say_can_progress │ │ │ └── 2023-07-08 22:33 │ │ │ ├── greedy_action-say │ │ │ ├── 2023-06-19 14:05 │ │ │ └── 2023-06-22 13:22 │ │ │ ├── greedy_action-say_can │ │ │ ├── 2023-06-20 06:47 │ │ │ └── 2023-06-22 10:48 │ │ │ ├── greedy_action-say_can_progress │ │ │ └── 2023-06-22 11:27 │ │ │ └── greedy_token-say │ │ │ └── 2023-06-22 13:00 │ └── test-optimal │ │ ├── flan_t5 │ │ ├── beam_action-say │ │ │ └── 2023-07-09 04:42 │ │ ├── beam_action-say_can │ │ │ └── 2023-07-09 05:01 │ │ ├── beam_action-say_can_progress │ │ │ └── 2023-07-09 05:21 │ │ ├── greedy_action-say │ │ │ └── 2023-06-22 14:50 │ │ ├── greedy_action-say_can │ │ │ └── 2023-06-22 07:52 │ │ ├── greedy_action-say_can_progress │ │ │ ├── 2023-06-22 08:10 │ │ │ └── 2023-06-29 14:49 │ │ └── greedy_token-say │ │ │ └── 2023-06-22 14:41 │ │ └── vicuna │ │ ├── beam_action-say │ │ └── 2023-07-08 19:17 │ │ ├── beam_action-say_can │ │ └── 2023-07-08 19:52 │ │ ├── beam_action-say_can_progress │ │ └── 2023-07-08 20:26 │ │ ├── greedy_action-say │ │ └── 2023-06-18 05:02 │ │ ├── greedy_action-say_can │ │ └── 2023-06-22 09:41 │ │ ├── greedy_action-say_can_progress │ │ └── 2023-06-22 10:15 │ │ └── greedy_token-say │ │ └── 2023-06-22 14:24 │ ├── oracle-plans │ ├── test-executable │ │ └── 2023-06-17 15:07 │ ├── test-generalize │ │ └── 2023-06-17 15:15 │ ├── test-optimal │ │ └── 2023-06-17 15:15 │ └── train │ │ └── 2023-06-17 15:10 │ └── train-preprocess ├── requirements.txt ├── utils.py └── virtualhome └── src └── virtualhome ├── __init__.py ├── admissible_actions ├── cfg ├── config.yaml ├── inference.yaml └── train.yaml ├── data └── oracle-plans │ └── train │ └── 2023-07-17 21:55 ├── dataset_utils ├── add_preconds.py ├── augment_dataset_exceptions.py ├── augment_dataset_locations.py ├── augmentation_utils.py ├── exception_handler.py └── execute_script_utils.py ├── demo └── process_data.py ├── 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