├── LICENSE ├── README.md ├── dev_builds.md ├── franka_policy ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config │ ├── giga.rviz │ └── grasp.rviz ├── launch │ ├── bringup_cloud_d.launch │ ├── bringup_cloud_depth.launch │ ├── bringup_cloud_rgb_l515.launch │ ├── bringup_cloud_rgb_vis.launch │ ├── filter_cloud_rgb.launch │ ├── grasp_commander.launch │ └── grasp_detection.launch ├── package.xml ├── requirements.txt ├── scripts │ ├── set_ros_client.sh │ └── set_ros_master.sh └── src │ ├── __pycache__ │ ├── grasp_executor.cpython-310.pyc │ ├── grasp_executor.cpython-37.pyc │ ├── ros_utils.cpython-310.pyc │ ├── ros_utils.cpython-37.pyc │ └── utils.cpython-310.pyc │ ├── grasp_detection.py │ ├── grasp_detection_giga.py │ ├── grasp_detection_ours.py │ ├── grasp_executor.py │ └── ros_utils.py ├── gazebo_plugins_local ├── CMakeLists.txt ├── include │ ├── gazebo_ros_bbox_3d_plugin.h │ ├── gazebo_ros_joint_axis_service.h │ └── gazebo_ros_moveit_planning_scene.h ├── package.xml ├── src │ ├── gazebo_ros_bbox_3d_plugin.cpp │ ├── gazebo_ros_joint_axis_service.cpp │ └── gazebo_ros_moveit_planning_scene.cpp └── srv │ ├── GazeboGetBoundingBoxes.srv │ └── GazeboGetJointsAxes.srv ├── grasp_detection ├── CMakeLists.txt ├── README.md ├── launch │ ├── run_node.launch │ └── run_test.launch ├── msg │ ├── BoundingBox2D.msg │ ├── BoundingBox2DArray.msg │ ├── BoundingBox3D.msg │ ├── BoundingBox3DArray.msg │ ├── Grasp.msg │ ├── Perception.msg │ └── PerceptionSingleCamera.msg ├── package.xml ├── src │ ├── detectors │ │ ├── __init__.py │ │ ├── config.py │ │ ├── detector_anygrasp.py │ │ ├── detector_base.py │ │ ├── detector_giga.py │ │ └── utils.py │ ├── run_node.py │ └── test_grasp.py └── srv │ └── DetectGrasps.srv ├── images ├── overview.png ├── pipeline.png └── robostack_warning.png ├── instruct_to_policy ├── CMakeLists.txt ├── README.md ├── config │ └── moveit.rviz ├── data.md ├── data │ ├── benchmark │ │ ├── eval_items │ │ │ ├── world_1_table_sort_eval_items.json │ │ │ ├── world_2_pick_and_place_eval_items.json │ │ │ ├── world_3_mug_to_empty_plate_eval_items.json │ │ │ ├── world_4_clear_table_to_basket_eval_items.json │ │ │ ├── world_5_mug_to_cabinet_eval_items.json │ │ │ └── world_6_mug_to_same_color_plate_eval_items.json │ │ ├── task_queries │ │ │ ├── world_1_table_sort.txt │ │ │ ├── world_2_pick_and_place.txt │ │ │ ├── world_3_mug_to_empty_plate.txt │ │ │ ├── world_4_clear_table_to_basket.txt │ │ │ ├── world_5_mug_to_cabinet.txt │ │ │ └── world_6_mug_to_same_color_plate.txt │ │ └── worlds │ │ │ ├── world_10_table_sort.world │ │ │ ├── world_1_table_sort.world │ │ │ ├── world_2_pick_and_place.world │ │ │ ├── world_3_mug_to_empty_plate.world │ │ │ ├── world_4_clear_table_to_basket.world │ │ │ ├── world_5_mug_to_cabinet.world │ │ │ └── world_6_mug_to_same_color_plate.world │ ├── google_scanned_object │ │ ├── container_collage.jpg │ │ ├── container_low_metadata.json │ │ ├── container_metadata.json │ │ ├── error_raw_label_list.txt │ │ ├── google_scanned_objects.proto │ │ ├── model_name_manual.json │ │ ├── object_collage.jpg │ │ ├── object_metadata.json │ │ └── template.sdf │ └── ycb │ │ ├── metadata.json │ │ ├── model.config │ │ ├── object_collage.jpg │ │ ├── template.material │ │ └── template.sdf ├── launch │ ├── gazebo_spawn_camera.launch │ ├── panda_gazebo.launch │ ├── register_depth.launch │ ├── run_cap.launch │ ├── run_eval_code.launch │ ├── run_gazebo_camera.launch │ ├── run_moveit.launch │ ├── run_panda_moveit_gazebo.launch │ ├── run_panda_moveit_robot.launch │ ├── run_ur5_moveit_gazebo.launch │ ├── test_cabinet_world.launch │ ├── test_eval_code.launch │ ├── test_multiview_detection.launch │ ├── test_panda_gazebo.launch │ └── ur5_gazebo.launch ├── models │ ├── Strawberry │ │ ├── model.config │ │ ├── model.sdf │ │ ├── texture_map.png │ │ ├── textured.dae │ │ ├── textured.mtl │ │ ├── textured.obj │ │ └── thumbnails │ │ │ ├── 1.png │ │ │ ├── 2.png │ │ │ ├── 3.png │ │ │ ├── 4.png │ │ │ └── 5.png │ ├── Table │ │ ├── Table_Diffuse.jpg │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ ├── model.sdf │ │ └── thumbnails │ │ │ ├── 1.png │ │ │ ├── 2.png │ │ │ ├── 3.png │ │ │ ├── 4.png │ │ │ └── 5.png │ ├── cabinet_1076 │ │ ├── bounding_box.json │ │ ├── images │ │ │ ├── texture_0.jpg │ │ │ ├── texture_1.jpg │ │ │ ├── texture_2.png │ │ │ ├── texture_3.jpg │ │ │ ├── texture_4.jpg │ │ │ └── texture_5.png │ │ ├── meta.json │ │ ├── mobility.urdf │ │ ├── mobility_cvx.urdf │ │ ├── mobility_v2.json │ │ ├── model.config │ │ ├── model.sdf │ │ ├── result.json │ │ ├── result_after_merging.json │ │ ├── semantics.txt │ │ ├── textured_objs │ │ │ ├── original-10.mtl │ │ │ ├── original-10.obj │ │ │ ├── original-11.mtl │ │ │ ├── original-11.obj │ │ │ ├── original-12.mtl │ │ │ ├── original-12.obj │ │ │ ├── original-14.mtl │ │ │ ├── original-14.obj │ │ │ ├── original-15.mtl │ │ │ ├── original-15.obj │ │ │ ├── original-16.mtl │ │ │ ├── original-16.obj │ │ │ ├── original-17.mtl │ │ │ ├── original-17.obj │ │ │ ├── original-18.mtl │ │ │ ├── original-18.obj │ │ │ ├── original-19.mtl │ │ │ ├── original-19.obj │ │ │ ├── original-2.mtl │ │ │ ├── original-2.obj │ │ │ ├── original-20.mtl │ │ │ ├── original-20.obj │ │ │ ├── original-21.mtl │ │ │ ├── original-21.obj │ │ │ ├── original-22.mtl │ │ │ ├── original-22.obj │ │ │ ├── original-23.mtl │ │ │ ├── original-23.obj │ │ │ ├── original-26.mtl │ │ │ ├── original-26.obj │ │ │ ├── original-27.mtl │ │ │ ├── original-27.obj │ │ │ ├── original-29.mtl │ │ │ ├── original-29.obj │ │ │ ├── original-3.mtl │ │ │ ├── original-3.obj │ │ │ ├── original-30.mtl │ │ │ ├── original-30.obj │ │ │ ├── original-31.mtl │ │ │ ├── original-31.obj │ │ │ ├── original-32.mtl │ │ │ ├── original-32.obj │ │ │ ├── original-33.mtl │ │ │ ├── original-33.obj │ │ │ ├── original-36.mtl │ │ │ ├── original-36.obj │ │ │ ├── original-37.mtl │ │ │ ├── original-37.obj │ │ │ ├── original-38.mtl │ │ │ ├── original-38.obj │ │ │ ├── original-39.mtl │ │ │ ├── original-39.obj │ │ │ ├── original-4.mtl │ │ │ ├── original-4.obj │ │ │ ├── original-42.mtl │ │ │ ├── original-42.obj │ │ │ ├── original-43.mtl │ │ │ ├── original-43.obj │ │ │ ├── original-45.mtl │ │ │ ├── original-45.obj │ │ │ ├── original-46.mtl │ │ │ ├── original-46.obj │ │ │ ├── original-47.mtl │ │ │ ├── original-47.obj │ │ │ ├── original-48.mtl │ │ │ ├── original-48.obj │ │ │ ├── original-49.mtl │ │ │ ├── original-49.obj │ │ │ ├── original-5.mtl │ │ │ ├── original-5.obj │ │ │ ├── original-52.mtl │ │ │ ├── original-52.obj │ │ │ ├── original-53.mtl │ │ │ ├── original-53.obj │ │ │ ├── original-54.mtl │ │ │ ├── original-54.obj │ │ │ ├── original-55.mtl │ │ │ ├── original-55.obj │ │ │ ├── original-58.mtl │ │ │ ├── original-58.obj │ │ │ ├── original-59.mtl │ │ │ ├── original-59.obj │ │ │ ├── original-6.mtl │ │ │ ├── original-6.obj │ │ │ ├── original-61.mtl │ │ │ ├── original-61.obj │ │ │ ├── original-62.mtl │ │ │ ├── original-62.obj │ │ │ ├── original-63.mtl │ │ │ ├── original-63.obj │ │ │ ├── original-64.mtl │ │ │ ├── original-64.obj │ │ │ ├── original-65.mtl │ │ │ ├── original-65.obj │ │ │ ├── original-68.mtl │ │ │ ├── original-68.obj │ │ │ ├── original-69.mtl │ │ │ ├── original-69.obj │ │ │ ├── original-7.mtl │ │ │ ├── original-7.obj │ │ │ ├── original-70.mtl │ │ │ ├── original-70.obj │ │ │ ├── original-71.mtl │ │ │ ├── original-71.obj │ │ │ ├── original-74.mtl │ │ │ ├── original-74.obj │ │ │ ├── original-75.mtl │ │ │ ├── original-75.obj │ │ │ ├── original-77.mtl │ │ │ ├── original-77.obj │ │ │ ├── original-78.mtl │ │ │ ├── original-78.obj │ │ │ ├── original-79.mtl │ │ │ ├── original-79.obj │ │ │ ├── original-8.mtl │ │ │ ├── original-8.obj │ │ │ ├── original-80.mtl │ │ │ ├── original-80.obj │ │ │ ├── original-81.mtl │ │ │ ├── original-81.obj │ │ │ ├── original-84.mtl │ │ │ ├── original-84.obj │ │ │ ├── original-85.mtl │ │ │ ├── original-85.obj │ │ │ ├── original-86.mtl │ │ │ ├── original-86.obj │ │ │ ├── original-87.mtl │ │ │ ├── original-87.obj │ │ │ ├── original-88.mtl │ │ │ └── original-88.obj │ │ ├── tree_hier.html │ │ └── tree_hier_after_merging.html │ ├── orange │ │ ├── google_16k │ │ │ ├── texture_map.png │ │ │ ├── textured.mtl │ │ │ └── textured.obj │ │ ├── model.config │ │ ├── orange.material │ │ └── orange.sdf │ ├── rectangle_plate │ │ ├── materials │ │ │ └── textures │ │ │ │ └── texture.png │ │ ├── meshes │ │ │ ├── Threshold_Tray_Rectangle_Porcelain.object_config.json │ │ │ ├── model.mtl │ │ │ ├── model.obj │ │ │ └── texture.png │ │ ├── model.config │ │ └── model.sdf │ └── red_plate │ │ ├── google_16k │ │ ├── nontextured.stl │ │ ├── texture_map.png │ │ ├── textured.dae │ │ ├── textured.mtl │ │ └── textured.obj │ │ ├── model.config │ │ ├── red_plate.material │ │ └── red_plate.sdf ├── package.xml ├── requirements.txt ├── scripts │ ├── bash │ │ ├── eval_code_gt_grounding.sh │ │ ├── run_code_gen.sh │ │ ├── run_grasp_detection.sh │ │ ├── run_multiview_detection.sh │ │ ├── run_queries_gen.sh │ │ └── run_single_multiview_detection.sh │ ├── data │ │ ├── calc_inertia_for_world.py │ │ ├── check_code_grammer.py │ │ ├── create_google_scanned_objects_sdf.py │ │ ├── create_omni_sdf.py │ │ ├── create_ycb_sdf.py │ │ ├── data_scripts.md │ │ ├── generate_code.py │ │ ├── generate_multiview_detection.py │ │ ├── generate_queries_from_world.py │ │ ├── generate_random_table_cabinet_world.py │ │ ├── process_complex_urdf.py │ │ └── process_saved_world.py │ ├── eval_generated_code.py │ ├── example_multimodal_pipeline.ipynb │ ├── grasp_from_gazebo_sensors.py │ ├── jupyter │ │ ├── process_google_scans.ipynb │ │ ├── process_queress_and_code.ipynb │ │ └── process_ycb.ipynb │ ├── poe_test.ipynb │ ├── protobuf │ │ ├── __init__.py │ │ └── google_scanned_objects_pb2.py │ ├── run_cap_moveit_gazebo.py │ ├── run_eval.sh │ ├── simple_env_interface.ipynb │ ├── src │ │ ├── __init__.py │ │ ├── configs │ │ │ ├── __init__.py │ │ │ ├── base.yaml │ │ │ ├── config.py │ │ │ ├── perception_base.yaml │ │ │ ├── perception_few_shot_codellama.yaml │ │ │ ├── perception_few_shot_gemini.yaml │ │ │ ├── perception_few_shot_gpt_3.5.yaml │ │ │ ├── text_base.yaml │ │ │ └── text_few_shot_gpt_4.yaml │ │ ├── env │ │ │ ├── __init__.py │ │ │ ├── env.py │ │ │ ├── gazebo_cameras.py │ │ │ ├── gazebo_env.py │ │ │ ├── moveit_collision_manager.py │ │ │ ├── moveit_gazebo_env.py │ │ │ ├── moveit_grippers.py │ │ │ ├── moveit_imarker_keyboard.py │ │ │ ├── multimodal_env.py │ │ │ ├── true_grounding_env.py │ │ │ ├── ur5_moveit_gazebo_env.py │ │ │ └── utils.py │ │ ├── eval │ │ │ ├── __init__.py │ │ │ ├── evaluator.py │ │ │ ├── print_table.py │ │ │ └── utils.py │ │ ├── grasp_detection │ │ │ ├── __init__.py │ │ │ ├── grasp_detection_base.py │ │ │ ├── grasp_detection_remote.py │ │ │ └── utils.py │ │ ├── grounding_model │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── glip │ │ │ │ ├── README.md │ │ │ │ ├── anchor_generator.py │ │ │ │ ├── bert_model.py │ │ │ │ ├── configs │ │ │ │ │ ├── glip_Swin_L.yaml │ │ │ │ │ └── glip_Swin_T_O365_GoldG.yaml │ │ │ │ ├── fpn.py │ │ │ │ ├── generalized_vl_rcnn.py │ │ │ │ ├── inference.py │ │ │ │ ├── maskrcnn_benchmark │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── config │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── defaults.py │ │ │ │ │ │ └── paths_catalog.py │ │ │ │ │ ├── csrc │ │ │ │ │ │ ├── ROIAlign.h │ │ │ │ │ │ ├── ROIPool.h │ │ │ │ │ │ ├── SigmoidFocalLoss.h │ │ │ │ │ │ ├── cpu │ │ │ │ │ │ │ ├── ROIAlign_cpu.cpp │ │ │ │ │ │ │ ├── nms_cpu.cpp │ │ │ │ │ │ │ ├── soft_nms.cpp │ │ │ │ │ │ │ └── vision.h │ │ │ │ │ │ ├── cuda │ │ │ │ │ │ │ ├── ROIAlign_cuda.cu │ │ │ │ │ │ │ ├── ROIPool_cuda.cu │ │ │ │ │ │ │ ├── SigmoidFocalLoss_cuda.cu │ │ │ │ │ │ │ ├── common.hpp │ │ │ │ │ │ │ ├── deform_conv_cuda.cu │ │ │ │ │ │ │ ├── deform_conv_kernel_cuda.cu │ │ │ │ │ │ │ ├── deform_pool_cuda.cu │ │ │ │ │ │ │ ├── deform_pool_kernel_cuda.cu │ │ │ │ │ │ │ ├── ml_nms.cu │ │ │ │ │ │ │ ├── nms.cu │ │ │ │ │ │ │ └── vision.h │ │ │ │ │ │ ├── deform_conv.h │ │ │ │ │ │ ├── deform_pool.h │ │ │ │ │ │ ├── ml_nms.h │ │ │ │ │ │ ├── nms.h │ │ │ │ │ │ └── vision.cpp │ │ │ │ │ ├── data │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── build.py │ │ │ │ │ │ ├── collate_batch.py │ │ │ │ │ │ ├── datasets │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── background.py │ │ │ │ │ │ │ ├── box_label_loader.py │ │ │ │ │ │ │ ├── caption.py │ │ │ │ │ │ │ ├── coco.py │ │ │ │ │ │ │ ├── coco_dt.py │ │ │ │ │ │ │ ├── concat_dataset.py │ │ │ │ │ │ │ ├── custom_distributed_sampler.py │ │ │ │ │ │ │ ├── duplicate_dataset.py │ │ │ │ │ │ │ ├── evaluation │ │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ │ ├── box_aug.py │ │ │ │ │ │ │ │ ├── coco │ │ │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ │ │ └── coco_eval.py │ │ │ │ │ │ │ │ ├── flickr │ │ │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ │ │ └── flickr_eval.py │ │ │ │ │ │ │ │ ├── lvis │ │ │ │ │ │ │ │ │ ├── _change_lvis_annotation.py │ │ │ │ │ │ │ │ │ ├── lvis.py │ │ │ │ │ │ │ │ │ └── lvis_eval.py │ │ │ │ │ │ │ │ ├── od_eval.py │ │ │ │ │ │ │ │ ├── od_to_grounding │ │ │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ │ │ └── od_eval.py │ │ │ │ │ │ │ │ ├── vg │ │ │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ │ │ └── vg_eval.py │ │ │ │ │ │ │ │ └── voc │ │ │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ │ │ └── voc_eval.py │ │ │ │ │ │ │ ├── flickr.py │ │ │ │ │ │ │ ├── gqa.py │ │ │ │ │ │ │ ├── imagenet.py │ │ │ │ │ │ │ ├── list_dataset.py │ │ │ │ │ │ │ ├── lvis.py │ │ │ │ │ │ │ ├── mixed.py │ │ │ │ │ │ │ ├── mixup.py │ │ │ │ │ │ │ ├── modulated_coco.py │ │ │ │ │ │ │ ├── object365.py │ │ │ │ │ │ │ ├── od_to_grounding.py │ │ │ │ │ │ │ ├── phrasecut.py │ │ │ │ │ │ │ ├── pseudo_data.py │ │ │ │ │ │ │ ├── refexp.py │ │ │ │ │ │ │ ├── tsv.py │ │ │ │ │ │ │ ├── vg.py │ │ │ │ │ │ │ └── voc.py │ │ │ │ │ │ ├── samplers │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── distributed.py │ │ │ │ │ │ │ ├── grouped_batch_sampler.py │ │ │ │ │ │ │ └── iteration_based_batch_sampler.py │ │ │ │ │ │ └── transforms │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── build.py │ │ │ │ │ │ │ └── transforms.py │ │ │ │ │ ├── engine │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── alter_trainer.py │ │ │ │ │ │ ├── evolution.py │ │ │ │ │ │ ├── inference.py │ │ │ │ │ │ ├── predictor.py │ │ │ │ │ │ ├── predictor_glip.py │ │ │ │ │ │ ├── singlepath_trainer.py │ │ │ │ │ │ ├── stage_trainer.py │ │ │ │ │ │ └── trainer.py │ │ │ │ │ ├── layers │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── batch_norm.py │ │ │ │ │ │ ├── deform_conv.py │ │ │ │ │ │ ├── deform_pool.py │ │ │ │ │ │ ├── dropblock.py │ │ │ │ │ │ ├── dyhead.py │ │ │ │ │ │ ├── dyrelu.py │ │ │ │ │ │ ├── evonorm.py │ │ │ │ │ │ ├── iou_loss.py │ │ │ │ │ │ ├── misc.py │ │ │ │ │ │ ├── nms.py │ │ │ │ │ │ ├── roi_align.py │ │ │ │ │ │ ├── roi_pool.py │ │ │ │ │ │ ├── se.py │ │ │ │ │ │ ├── set_loss.py │ │ │ │ │ │ ├── sigmoid_focal_loss.py │ │ │ │ │ │ └── smooth_l1_loss.py │ │ │ │ │ ├── modeling │ │ │ │ │ │ ├── .DS_Store │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── backbone │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── bifpn.py │ │ │ │ │ │ │ ├── blocks.py │ │ │ │ │ │ │ ├── efficientdet.py │ │ │ │ │ │ │ ├── efficientnet.py │ │ │ │ │ │ │ ├── fbnet.py │ │ │ │ │ │ │ ├── fpn.py │ │ │ │ │ │ │ ├── mixer.py │ │ │ │ │ │ │ ├── ops.py │ │ │ │ │ │ │ ├── resnet.py │ │ │ │ │ │ │ ├── swint.py │ │ │ │ │ │ │ ├── swint_v2.py │ │ │ │ │ │ │ ├── swint_v2_vl.py │ │ │ │ │ │ │ └── swint_vl.py │ │ │ │ │ │ ├── balanced_positive_negative_sampler.py │ │ │ │ │ │ ├── box_coder.py │ │ │ │ │ │ ├── detector │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── generalized_rcnn.py │ │ │ │ │ │ │ └── generalized_vl_rcnn.py │ │ │ │ │ │ ├── language_backbone │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── backbone.py │ │ │ │ │ │ │ ├── bert_model.py │ │ │ │ │ │ │ ├── bpe_simple_vocab_16e6.txt.gz │ │ │ │ │ │ │ ├── build.py │ │ │ │ │ │ │ ├── clip_model.py │ │ │ │ │ │ │ ├── hfpt_tokenizer.py │ │ │ │ │ │ │ ├── rnn_model.py │ │ │ │ │ │ │ ├── simple_tokenizer.py │ │ │ │ │ │ │ ├── test_clip_tokenizer.py │ │ │ │ │ │ │ └── word_utils.py │ │ │ │ │ │ ├── make_layers.py │ │ │ │ │ │ ├── matcher.py │ │ │ │ │ │ ├── poolers.py │ │ │ │ │ │ ├── registry.py │ │ │ │ │ │ ├── roi_heads │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── box_head │ │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ │ ├── box_head.py │ │ │ │ │ │ │ │ ├── inference.py │ │ │ │ │ │ │ │ ├── loss.py │ │ │ │ │ │ │ │ ├── roi_box_feature_extractors.py │ │ │ │ │ │ │ │ └── roi_box_predictors.py │ │ │ │ │ │ │ ├── keypoint_head │ │ │ │ │ │ │ │ ├── inference.py │ │ │ │ │ │ │ │ ├── keypoint_head.py │ │ │ │ │ │ │ │ ├── loss.py │ │ │ │ │ │ │ │ ├── roi_keypoint_feature_extractors.py │ │ │ │ │ │ │ │ └── roi_keypoint_predictors.py │ │ │ │ │ │ │ └── mask_head │ │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ │ ├── hourglass.py │ │ │ │ │ │ │ │ ├── inference.py │ │ │ │ │ │ │ │ ├── loss.py │ │ │ │ │ │ │ │ ├── mask_head.py │ │ │ │ │ │ │ │ ├── roi_mask_feature_extractors.py │ │ │ │ │ │ │ │ └── roi_mask_predictors.py │ │ │ │ │ │ ├── rpn │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── anchor_generator.py │ │ │ │ │ │ │ ├── atss.py │ │ │ │ │ │ │ ├── dyhead.py │ │ │ │ │ │ │ ├── fcos.py │ │ │ │ │ │ │ ├── inference.py │ │ │ │ │ │ │ ├── loss.py │ │ │ │ │ │ │ ├── modeling_bert.py │ │ │ │ │ │ │ ├── retina.py │ │ │ │ │ │ │ ├── rpn.py │ │ │ │ │ │ │ ├── transformer.py │ │ │ │ │ │ │ └── vldyhead.py │ │ │ │ │ │ └── utils.py │ │ │ │ │ ├── solver │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── build.py │ │ │ │ │ │ └── lr_scheduler.py │ │ │ │ │ ├── structures │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── bounding_box.py │ │ │ │ │ │ ├── boxlist_ops.py │ │ │ │ │ │ ├── image_list.py │ │ │ │ │ │ ├── keypoint.py │ │ │ │ │ │ └── segmentation_mask.py │ │ │ │ │ └── utils │ │ │ │ │ │ ├── README.md │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── amp.py │ │ │ │ │ │ ├── big_model_loading.py │ │ │ │ │ │ ├── c2_model_loading.py │ │ │ │ │ │ ├── checkpoint.py │ │ │ │ │ │ ├── collect_env.py │ │ │ │ │ │ ├── comm.py │ │ │ │ │ │ ├── cv2_util.py │ │ │ │ │ │ ├── dist.py │ │ │ │ │ │ ├── ema.py │ │ │ │ │ │ ├── env.py │ │ │ │ │ │ ├── flops.py │ │ │ │ │ │ ├── fuse_helper.py │ │ │ │ │ │ ├── imports.py │ │ │ │ │ │ ├── logger.py │ │ │ │ │ │ ├── mdetr_dist.py │ │ │ │ │ │ ├── metric_logger.py │ │ │ │ │ │ ├── miscellaneous.py │ │ │ │ │ │ ├── model_serialization.py │ │ │ │ │ │ ├── model_zoo.py │ │ │ │ │ │ ├── pretrain_model_loading.py │ │ │ │ │ │ ├── registry.py │ │ │ │ │ │ ├── shallow_contrastive_loss_helper.py │ │ │ │ │ │ └── stats.py │ │ │ │ ├── predictor_glip.py │ │ │ │ ├── requirements.txt │ │ │ │ ├── setup.py │ │ │ │ ├── swint.py │ │ │ │ ├── swint_fpn_retinanet.py │ │ │ │ ├── utils.py │ │ │ │ └── vldyhead.py │ │ │ ├── grounding_base.py │ │ │ ├── grounding_embodiedgpt.py │ │ │ └── grounding_glip.py │ │ ├── joint_prediction │ │ │ ├── __init__.py │ │ │ ├── joint_prediction_base.py │ │ │ └── joint_prediction_gt.py │ │ ├── lmp │ │ │ ├── __init__.py │ │ │ ├── lmp_base.py │ │ │ └── lmp_openai.py │ │ ├── openai_api_key.py │ │ ├── perception │ │ │ ├── __init__.py │ │ │ ├── scalable_tsdf.py │ │ │ ├── scene_manager.py │ │ │ └── utils.py │ │ ├── plane_detection │ │ │ ├── __init__.py │ │ │ ├── plane_detection_base.py │ │ │ ├── plane_detection_open3d.py │ │ │ └── test_detect_planar_patches.ipynb │ │ ├── prompt │ │ │ ├── __init__.py │ │ │ ├── example_pool.py │ │ │ ├── message_fgen.py │ │ │ ├── message_fgen_few_shot.py │ │ │ ├── message_parse_question.py │ │ │ ├── message_tabletop_perception.py │ │ │ ├── message_tabletop_perception_few_shot.py │ │ │ ├── message_tabletop_perception_subtasks.py │ │ │ ├── message_tabletop_perception_zero_shot.py │ │ │ ├── message_tabletop_text.py │ │ │ ├── message_tabletop_text_few_shot.py │ │ │ └── message_tabletop_text_zero_shot.py │ │ └── utils.py │ ├── temp.ipynb │ └── tests │ │ ├── __init__.py │ │ └── perception │ │ ├── __init__.py │ │ ├── test_scene_manager.py │ │ └── test_utils.py ├── urdf │ ├── panda.urdf.xacro │ ├── quadruple_d435_cameras.urdf.xacro │ ├── triple_d435_cameras.urdf.xacro │ └── ur5_robotiq85_gripper.urdf.xacro └── worlds │ ├── demo_table_cabinet.world │ ├── table_base.world │ 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