├── .gitignore ├── LICENSE ├── README.md ├── compute_goal_embedding.py ├── environment.yaml ├── graphirl ├── __init__.py ├── bbox_util.py ├── common.py ├── data_aug.py ├── dataset.py ├── evaluators │ ├── __init__.py │ ├── base.py │ ├── cycle_consistency.py │ ├── emb_visualizer.py │ ├── kendalls_tau.py │ ├── manager.py │ ├── nn_visualizer.py │ ├── reconstruction_visualizer.py │ └── reward_visualizer.py ├── factory.py ├── file_utils.py ├── frame_samplers.py ├── losses.py ├── models.py ├── tensorizers.py ├── trainers │ ├── __init__.py │ ├── base.py │ ├── classification.py │ ├── lifs.py │ ├── tcc.py │ └── tcn.py ├── transforms.py ├── types.py └── video_samplers.py ├── media ├── preview.gif └── summary.png ├── scripts ├── pegbox_helper.sh ├── push_helper.sh ├── reach_helper.sh ├── run_pegbox.sh ├── run_push.sh └── run_reach.sh └── src ├── algorithms ├── drq.py ├── drq_multiview.py ├── drqv2.py ├── factory.py ├── modules.py ├── modules_3d.py ├── multiview.py ├── rot_utils.py ├── sac.py ├── sacv2.py ├── sacv2_3d.py ├── svea_multiview.py └── sveav2.py ├── arguments.py ├── augmentations.py ├── color_jitter.py ├── env ├── __pycache__ │ └── wrappers.cpython-37.pyc ├── robot │ ├── __pycache__ │ │ ├── base.cpython-37.pyc │ │ ├── gym_utils.cpython-37.pyc │ │ ├── push.cpython-37.pyc │ │ └── registration.cpython-37.pyc │ ├── assets │ │ └── robot │ │ │ ├── fetch │ │ │ ├── base_link.STL │ │ │ ├── base_link_collision.stl │ │ │ ├── bellows_link_collision.stl │ │ │ ├── elbow_flex_link_collision.stl │ │ │ ├── estop_link.stl │ │ │ ├── forearm_roll_link_collision.stl │ │ │ ├── gripper_link.stl │ │ │ ├── head_pan_link_collision.stl │ │ │ ├── head_tilt_link_collision.stl │ │ │ ├── l_wheel_link_collision.stl │ │ │ ├── laser_link.stl │ │ │ ├── left_finger.STL │ │ │ ├── left_inner_knuckle.STL │ │ │ ├── left_outer_knuckle.STL │ │ │ ├── link1.STL │ │ │ ├── link2.STL │ │ │ ├── link3.STL │ │ │ ├── link4.STL │ │ │ ├── link5.STL │ │ │ ├── link6.STL │ │ │ ├── link7.STL │ │ │ ├── link_base copy.STL │ │ │ ├── link_base.STL │ │ │ ├── r_wheel_link_collision.stl │ │ │ ├── right_finger.STL │ │ │ ├── right_inner_knuckle.STL │ │ │ ├── right_outer_knuckle.STL │ │ │ ├── shoulder_lift_link_collision.stl │ │ │ ├── shoulder_pan_link_collision.stl │ │ │ ├── torso_fixed_link.stl │ │ │ ├── torso_lift_link_collision.stl │ │ │ ├── upperarm_roll_link_collision.stl │ │ │ ├── wrist_flex_link_collision.stl │ │ │ └── wrist_roll_link_collision.stl │ │ │ ├── golf.xml │ │ │ ├── golfbot.xml │ │ │ ├── hammer.xml │ │ │ ├── hammer_all.xml │ │ │ ├── lift.xml │ │ │ ├── mesh │ │ │ ├── arm │ │ │ │ ├── Base_Link.stl │ │ │ │ ├── Bracelet_Link.stl │ │ │ │ ├── ForeArm_Link.stl │ │ │ │ ├── HalfArm1_Link.stl │ │ │ │ ├── HalfArm2_Link.stl │ │ │ │ ├── Shoulder_Link.stl │ │ │ │ ├── SphericalWrist1_Link.stl │ │ │ │ └── SphericalWrist2_Link.stl │ │ │ ├── robotiq │ │ │ │ ├── inner_finger_coarse.stl │ │ │ │ ├── inner_knuckle_coarse.stl │ │ │ │ ├── kinova_robotiq_coupler.stl │ │ │ │ ├── outer_finger_coarse.stl │ │ │ │ ├── outer_knuckle_coarse.stl │ │ │ │ ├── robotiq_85_base_link.stl │ │ │ │ ├── robotiq_85_base_link_coarse.stl │ │ │ │ ├── robotiq_85_finger_link.stl │ │ │ │ ├── robotiq_85_finger_tip_link.stl │ │ │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ │ │ └── robotiq_85_knuckle_link.stl │ │ │ ├── robotiq_85_gripper │ │ │ │ ├── robotiq_arg2f_85_base_link.stl │ │ │ │ ├── robotiq_arg2f_85_base_link_vis.dae │ │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ │ ├── robotiq_arg2f_85_inner_finger.stl │ │ │ │ ├── robotiq_arg2f_85_inner_finger_vis.dae │ │ │ │ ├── robotiq_arg2f_85_inner_finger_vis.stl │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.stl │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle_vis.dae │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle_vis.stl │ │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ │ ├── robotiq_arg2f_85_outer_finger.stl │ │ │ │ ├── robotiq_arg2f_85_outer_finger_vis.dae │ │ │ │ ├── robotiq_arg2f_85_outer_finger_vis.stl │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.stl │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle_vis.dae │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle_vis.stl │ │ │ │ ├── robotiq_arg2f_85_pad_vis.dae │ │ │ │ ├── robotiq_arg2f_85_pad_vis.stl │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ └── robotiq_gripper_coupling_vis.stl │ │ │ ├── xarm │ │ │ │ ├── link1.STL │ │ │ │ ├── link2.STL │ │ │ │ ├── link3.STL │ │ │ │ ├── link4.STL │ │ │ │ ├── link5.STL │ │ │ │ ├── link6.STL │ │ │ │ ├── link7.STL │ │ │ │ └── link_base.STL │ │ │ └── xarm_gripper │ │ │ │ ├── base_link.STL │ │ │ │ ├── left_finger.STL │ │ │ │ ├── left_inner_knuckle.STL │ │ │ │ ├── left_outer_knuckle.STL │ │ │ │ ├── right_finger.STL │ │ │ │ ├── right_inner_knuckle.STL │ │ │ │ └── right_outer_knuckle.STL │ │ │ ├── peg_in_box.xml │ │ │ ├── pick_place.xml │ │ │ ├── push.xml │ │ │ ├── reach.xml │ │ │ ├── robot_gen3.xml │ │ │ ├── robot_xarm.xml │ │ │ ├── robot_xarm_hammer.xml │ │ │ ├── shared.xml │ │ │ ├── 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