├── .DS_Store ├── LICENSE ├── README.md ├── conda_environment.yaml ├── conda_environment_macos.yaml ├── conda_environment_real.yaml ├── demo_pusht.py ├── demo_real_robot.py ├── diffusion_policy ├── .DS_Store ├── codecs │ └── imagecodecs_numcodecs.py ├── common │ ├── checkpoint_util.py │ ├── cv2_util.py │ ├── env_util.py │ ├── json_logger.py │ ├── nested_dict_util.py │ ├── normalize_util.py │ ├── pose_trajectory_interpolator.py │ ├── precise_sleep.py │ ├── pymunk_override.py │ ├── pymunk_util.py │ ├── pytorch_util.py │ ├── replay_buffer.py │ ├── robomimic_config_util.py │ ├── robomimic_util.py │ ├── sampler.py │ ├── schedulers.py │ └── timestamp_accumulator.py ├── config │ ├── task │ │ ├── blockpush_lowdim_seed.yaml │ │ ├── blockpush_lowdim_seed_abs.yaml │ │ ├── can_image.yaml │ │ ├── can_image_abs.yaml │ │ ├── can_lowdim.yaml │ │ ├── can_lowdim_abs.yaml │ │ ├── kitchen_lowdim.yaml │ │ ├── kitchen_lowdim_abs.yaml │ │ ├── lift_image.yaml │ │ ├── lift_image_abs.yaml │ │ ├── lift_lowdim.yaml │ │ ├── lift_lowdim_abs.yaml │ │ ├── pusht_image.yaml │ │ ├── pusht_lowdim.yaml │ │ ├── real_pusht_image.yaml │ │ ├── square_image.yaml │ │ ├── square_image_abs.yaml │ │ ├── square_lowdim.yaml │ │ ├── square_lowdim_abs.yaml │ │ ├── tool_hang_image.yaml │ │ ├── tool_hang_image_abs.yaml │ │ ├── tool_hang_lowdim.yaml │ │ ├── tool_hang_lowdim_abs.yaml │ │ ├── transport_image.yaml │ │ ├── transport_image_abs.yaml │ │ ├── transport_lowdim.yaml │ │ └── transport_lowdim_abs.yaml │ ├── train_diffusion_unet_ddim_hybrid_workspace.yaml │ ├── train_diffusion_unet_ddim_lowdim_workspace.yaml │ ├── train_diffusion_unet_hybrid_workspace.yaml │ ├── train_diffusion_unet_lowdim_workspace.yaml │ ├── train_tedi_unet_ddim_hybrid_workspace.yaml │ ├── train_tedi_unet_ddim_lowdim_workspace.yaml │ ├── train_tedi_unet_hybrid_workspace.yaml │ └── train_tedi_unet_lowdim_workspace.yaml ├── dataset │ ├── base_dataset.py │ ├── blockpush_lowdim_dataset.py │ ├── kitchen_lowdim_dataset.py │ ├── kitchen_mjl_lowdim_dataset.py │ ├── pusht_dataset.py │ ├── pusht_image_dataset.py │ ├── real_pusht_image_dataset.py │ ├── robomimic_replay_image_dataset.py │ └── robomimic_replay_lowdim_dataset.py ├── env │ ├── .DS_Store │ ├── block_pushing │ │ ├── .DS_Store │ │ ├── assets │ │ │ ├── block.urdf │ │ │ ├── block2.urdf │ │ │ ├── blocks │ │ │ │ ├── blue_cube.urdf │ │ │ │ ├── cube.obj │ │ │ │ ├── green_star.urdf │ │ │ │ ├── moon.obj │ │ │ │ ├── pentagon.obj │ │ │ │ ├── red_moon.urdf │ │ │ │ ├── star.obj │ │ │ │ └── yellow_pentagon.urdf │ │ │ ├── insert.urdf │ │ │ ├── plane.obj │ │ │ ├── suction │ │ │ │ ├── base.obj │ │ │ │ ├── cylinder.urdf │ │ │ │ ├── cylinder_real.urdf │ │ │ │ ├── head.obj │ │ │ │ ├── mid.obj │ │ │ │ ├── suction-base.urdf │ │ │ │ ├── suction-head-long.urdf │ │ │ │ ├── suction-head.urdf │ │ │ │ └── tip.obj │ │ │ ├── workspace.urdf │ │ │ ├── workspace_real.urdf │ │ │ ├── zone.obj │ │ │ ├── zone.urdf │ │ │ └── zone2.urdf │ │ ├── block_pushing.py │ │ ├── block_pushing_discontinuous.py │ │ ├── block_pushing_multimodal.py │ │ ├── oracles │ │ │ ├── discontinuous_push_oracle.py │ │ │ ├── multimodal_push_oracle.py │ │ │ ├── oriented_push_oracle.py │ │ │ ├── pushing_info.py │ │ │ └── reach_oracle.py │ │ └── utils │ │ │ ├── pose3d.py │ │ │ ├── utils_pybullet.py │ │ │ └── xarm_sim_robot.py │ ├── kitchen │ │ ├── __init__.py │ │ ├── base.py │ │ ├── kitchen_lowdim_wrapper.py │ │ ├── kitchen_util.py │ │ ├── relay_policy_learning │ │ │ ├── adept_envs │ │ │ │ ├── .pylintrc │ │ │ │ ├── .style.yapf │ │ │ │ └── adept_envs │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── base_robot.py │ │ │ │ │ ├── franka │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── assets │ │ │ │ │ │ └── franka_kitchen_jntpos_act_ab.xml │ │ │ │ │ ├── kitchen_multitask_v0.py │ │ │ │ │ └── robot │ │ │ │ │ │ ├── franka_config.xml │ │ │ │ │ │ └── franka_robot.py │ │ │ │ │ ├── mujoco_env.py │ │ │ │ │ ├── robot_env.py │ │ │ │ │ ├── simulation │ │ │ │ │ ├── module.py │ │ │ │ │ ├── renderer.py │ │ │ │ │ └── sim_robot.py │ │ │ │ │ └── utils │ │ │ │ │ ├── config.py │ │ │ │ │ ├── configurable.py │ │ │ │ │ ├── constants.py │ │ │ │ │ ├── parse_demos.py │ │ │ │ │ └── quatmath.py │ │ │ ├── adept_models │ │ │ │ ├── .gitignore │ │ │ │ ├── CONTRIBUTING.public.md │ │ │ │ ├── LICENSE │ │ │ │ ├── README.public.md │ │ │ │ ├── __init__.py │ │ │ │ ├── kitchen │ │ │ │ │ ├── assets │ │ │ │ │ │ ├── backwall_asset.xml │ │ │ │ │ │ ├── backwall_chain.xml │ │ │ │ │ │ ├── counters_asset.xml │ │ │ │ │ │ ├── counters_chain.xml │ │ │ │ │ │ ├── hingecabinet_asset.xml │ │ │ │ │ │ ├── hingecabinet_chain.xml │ │ │ │ │ │ ├── kettle_asset.xml │ │ │ │ │ │ ├── kettle_chain.xml │ │ │ │ │ │ ├── microwave_asset.xml │ │ │ │ │ │ ├── microwave_chain.xml │ │ │ │ │ │ ├── oven_asset.xml │ │ │ │ │ │ ├── oven_chain.xml │ │ │ │ │ │ ├── slidecabinet_asset.xml │ │ │ │ │ │ └── slidecabinet_chain.xml │ │ │ │ │ ├── counters.xml │ │ │ │ │ ├── hingecabinet.xml │ │ │ │ │ ├── kettle.xml │ │ │ │ │ ├── kitchen.xml │ │ │ │ │ ├── meshes │ │ │ │ │ │ ├── burnerplate.stl │ │ │ │ │ │ ├── burnerplate_mesh.stl │ │ │ │ │ │ ├── cabinetbase.stl │ │ │ │ │ │ ├── cabinetdrawer.stl │ │ │ │ │ │ ├── cabinethandle.stl │ │ │ │ │ │ ├── countertop.stl │ │ │ │ │ │ ├── faucet.stl │ │ │ │ │ │ ├── handle2.stl │ │ │ │ │ │ ├── hingecabinet.stl │ │ │ │ │ │ ├── hingedoor.stl │ │ │ │ │ │ ├── hingehandle.stl │ │ │ │ │ │ ├── hood.stl │ │ │ │ │ │ ├── kettle.stl │ │ │ │ │ │ ├── kettlehandle.stl │ │ │ │ │ │ ├── knob.stl │ │ │ │ │ │ ├── lightswitch.stl │ │ │ │ │ │ ├── lightswitchbase.stl │ │ │ │ │ │ ├── micro.stl │ │ │ │ │ │ ├── microbutton.stl │ │ │ │ │ │ ├── microdoor.stl │ │ │ │ │ │ ├── microefeet.stl │ │ │ │ │ │ ├── microfeet.stl │ │ │ │ │ │ ├── microhandle.stl │ │ │ │ │ │ ├── microwindow.stl │ │ │ │ │ │ ├── oven.stl │ │ │ │ │ │ ├── ovenhandle.stl │ │ │ │ │ │ ├── oventop.stl │ │ │ │ │ │ ├── ovenwindow.stl │ │ │ │ │ │ ├── slidecabinet.stl │ │ │ │ │ │ ├── slidedoor.stl │ │ │ │ │ │ ├── stoverim.stl │ │ │ │ │ │ ├── tile.stl │ │ │ │ │ │ └── wall.stl │ │ │ │ │ ├── microwave.xml │ │ │ │ │ ├── oven.xml │ │ │ │ │ ├── slidecabinet.xml │ │ │ │ │ └── textures │ │ │ │ │ │ ├── marble1.png │ │ │ │ │ │ ├── metal1.png │ │ │ │ │ │ ├── tile1.png │ │ │ │ │ │ └── wood1.png │ │ │ │ └── scenes │ │ │ │ │ ├── basic_scene.xml │ │ │ │ │ └── textures │ │ │ │ │ ├── white_marble_tile.png │ │ │ │ │ └── white_marble_tile2.png │ │ │ └── third_party │ │ │ │ └── franka │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── assets │ │ │ │ ├── actuator0.xml │ │ │ │ ├── actuator1.xml │ │ │ │ ├── assets.xml │ │ │ │ ├── basic_scene.xml │ │ │ │ ├── chain0.xml │ │ │ │ ├── chain0_overlay.xml │ │ │ │ ├── chain1.xml │ │ │ │ └── teleop_actuator.xml │ │ │ │ ├── bi-franka_panda.xml │ │ │ │ ├── franka_panda.png │ │ │ │ ├── franka_panda.xml │ │ │ │ ├── franka_panda_teleop.xml │ │ │ │ └── meshes │ │ │ │ ├── collision │ │ │ │ ├── finger.stl │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ │ │ └── visual │ │ │ │ ├── finger.stl │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ └── v0.py │ ├── pusht │ │ ├── __init__.py │ │ ├── pusht_env.py │ │ ├── pusht_env_disturbance.py │ │ ├── pusht_image_env.py │ │ ├── pusht_keypoints_env.py │ │ ├── pymunk_keypoint_manager.py │ │ └── pymunk_override.py │ └── robomimic │ │ ├── robomimic_image_wrapper.py │ │ └── robomimic_lowdim_wrapper.py ├── env_runner │ ├── base_image_runner.py │ ├── base_lowdim_runner.py │ ├── blockpush_lowdim_runner.py │ ├── kitchen_lowdim_runner.py │ ├── pusht_image_runner.py │ ├── pusht_keypoints_runner.py │ ├── real_pusht_image_runner.py │ ├── robomimic_image_runner.py │ └── robomimic_lowdim_runner.py ├── gym_util │ ├── async_vector_env.py │ ├── multistep_wrapper.py │ ├── sync_vector_env.py │ ├── video_recording_wrapper.py │ └── video_wrapper.py ├── model │ ├── .DS_Store │ ├── bet │ │ ├── .DS_Store │ │ ├── action_ae │ │ │ ├── __init__.py │ │ │ └── discretizers │ │ │ │ └── k_means.py │ │ ├── latent_generators │ │ │ ├── latent_generator.py │ │ │ ├── mingpt.py │ │ │ └── transformer.py │ │ ├── libraries │ │ │ ├── loss_fn.py │ │ │ └── mingpt │ │ │ │ ├── LICENSE │ │ │ │ ├── __init__.py │ │ │ │ ├── model.py │ │ │ │ ├── trainer.py │ │ │ │ └── utils.py │ │ └── utils.py │ ├── common │ │ ├── dict_of_tensor_mixin.py │ │ ├── lr_scheduler.py │ │ ├── module_attr_mixin.py │ │ ├── normalizer.py │ │ ├── rotation_transformer.py │ │ ├── shape_util.py │ │ └── tensor_util.py │ ├── diffusion │ │ ├── conditional_unet1d.py │ │ ├── conditional_unet1d_tedi.py │ │ ├── conv1d_components.py │ │ ├── ema_model.py │ │ ├── mask_generator.py │ │ ├── positional_embedding.py │ │ └── transformer_for_diffusion.py │ └── vision │ │ ├── crop_randomizer.py │ │ ├── model_getter.py │ │ └── multi_image_obs_encoder.py ├── policy │ ├── base_image_policy.py │ ├── base_lowdim_policy.py │ ├── diffusion_unet_hybrid_image_policy.py │ ├── diffusion_unet_lowdim_policy.py │ ├── diffusion_visualize_buffer.py │ ├── schedulers.py │ ├── tedi_unet_hybrid_image_policy.py │ ├── tedi_unet_lowdim_policy.py │ └── tedi_visualize_buffer.py ├── real_world │ ├── keystroke_counter.py │ ├── multi_camera_visualizer.py │ ├── multi_realsense.py │ ├── real_data_conversion.py │ ├── real_env.py │ ├── real_inference_util.py │ ├── realsense_config │ │ ├── 415_high_accuracy_mode.json │ │ └── 435_high_accuracy_mode.json │ ├── rtde_interpolation_controller.py │ ├── single_realsense.py │ ├── spacemouse.py │ ├── spacemouse_shared_memory.py │ └── video_recorder.py ├── scripts │ ├── bet_blockpush_conversion.py │ ├── blockpush_abs_conversion.py │ ├── episode_lengths.py │ ├── generate_bet_blockpush.py │ ├── plot_tedi_buffer.py │ ├── real_dataset_conversion.py │ ├── real_pusht_metrics.py │ ├── real_pusht_successrate.py │ ├── robomimic_dataset_action_comparison.py │ └── robomimic_dataset_conversion.py ├── shared_memory │ ├── shared_memory_queue.py │ ├── shared_memory_ring_buffer.py │ ├── shared_memory_util.py │ └── shared_ndarray.py └── workspace │ ├── base_workspace.py │ ├── train_diffusion_unet_hybrid_workspace.py │ ├── train_diffusion_unet_lowdim_workspace.py │ ├── train_tedi_lowdim_workspace.py │ └── train_tedi_unet_hybrid_workspace.py ├── eval.py ├── eval_loop.py ├── eval_real_robot.py ├── experiments ├── eval_loop.py └── sampling_speed.py ├── media └── gh_fig.png ├── multirun_metrics.py ├── pyrightconfig.json ├── ray_exec.py ├── ray_train_multirun.py ├── setup.py ├── tests ├── test_block_pushing.py ├── test_cv2_util.py ├── test_multi_realsense.py ├── test_pose_trajectory_interpolator.py ├── test_precise_sleep.py ├── test_replay_buffer.py ├── test_ring_buffer.py ├── test_robomimic_image_runner.py ├── test_robomimic_lowdim_runner.py ├── test_shared_queue.py ├── test_single_realsense.py └── 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