├── .gitignore ├── Projects ├── ATE_vae │ ├── configs │ │ ├── base.yaml │ │ ├── eval_info_stage1.yaml │ │ ├── info_stage1.yaml │ │ └── info_stage2.yaml │ ├── eval.py │ ├── models │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── base.cpython-310.pyc │ │ │ ├── cross_attention.cpython-310.pyc │ │ │ ├── info_vae.cpython-310.pyc │ │ │ └── mld_vae.cpython-310.pyc │ │ ├── base.py │ │ ├── cross_attention.py │ │ └── info_vae.py │ ├── requirements.txt │ ├── scripts │ │ ├── check_dataset.py │ │ ├── eval_stage.sh │ │ └── train_stage.sh │ ├── train.py │ └── utils │ │ ├── Dataset.py │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── Dataset.cpython-310.pyc │ │ ├── Dataset.cpython-311.pyc │ │ ├── Dataset.cpython-313.pyc │ │ ├── __init__.cpython-310.pyc │ │ ├── __init__.cpython-311.pyc │ │ ├── __init__.cpython-313.pyc │ │ ├── functions.cpython-310.pyc │ │ ├── multi_gpuTrainer.cpython-310.pyc │ │ ├── second_trainer.cpython-310.pyc │ │ ├── trainer.cpython-310.pyc │ │ ├── trainer.cpython-311.pyc │ │ └── trainer.cpython-313.pyc │ │ ├── functions.py │ │ └── trainer.py ├── DP │ ├── .gitignore │ ├── __init__.py │ ├── deploy_policy.py │ ├── deploy_policy.yml │ ├── deploy_policy_double_env.py │ ├── diffusion_policy │ │ ├── __init__.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 │ │ │ └── timestamp_accumulator.py │ │ ├── config │ │ │ ├── robot_dp_14.yaml │ │ │ ├── robot_dp_14_w_ate.yaml │ │ │ ├── robot_dp_16.yaml │ │ │ ├── robot_dp_16_w_ate.yaml │ │ │ └── task │ │ │ │ ├── default_task_14.yaml │ │ │ │ └── default_task_16.yaml │ │ ├── dataset │ │ │ ├── base_dataset.py │ │ │ └── robot_image_dataset.py │ │ ├── env_runner │ │ │ └── dp_runner.py │ │ ├── model │ │ │ ├── bet │ │ │ │ ├── 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 │ │ │ │ ├── conv1d_components.py │ │ │ │ ├── ema_model.py │ │ │ │ ├── mask_generator.py │ │ │ │ ├── positional_embedding.py │ │ │ │ └── transformer_for_diffusion.py │ │ │ ├── vae │ │ │ │ ├── __init__.py │ │ │ │ ├── base.py │ │ │ │ ├── cross_attention.py │ │ │ │ ├── info_vae.py │ │ │ │ ├── latent_guidance.py │ │ │ │ └── types_.py │ │ │ └── vision │ │ │ │ ├── crop_randomizer.py │ │ │ │ ├── model_getter.py │ │ │ │ └── multi_image_obs_encoder.py │ │ ├── policy │ │ │ ├── base_image_policy.py │ │ │ └── diffusion_unet_image_policy.py │ │ ├── shared_memory │ │ │ ├── shared_memory_queue.py │ │ │ ├── shared_memory_ring_buffer.py │ │ │ ├── shared_memory_util.py │ │ │ └── shared_ndarray.py │ │ └── workspace │ │ │ ├── base_workspace.py │ │ │ └── robotworkspace.py │ ├── dp_model.py │ ├── eval.sh │ ├── eval_double_env.sh │ ├── process_data.py │ ├── process_data.sh │ ├── pyproject.toml │ ├── train.py │ └── train.sh └── RDT │ ├── .gitignore │ ├── assets │ └── head.png │ ├── configs │ ├── __pycache__ │ │ ├── state_vec.cpython-310.pyc │ │ ├── state_vec.cpython-311.pyc │ │ └── state_vec.cpython-313.pyc │ ├── base.yaml │ ├── calvin_rel_traj_location_bounds_task_ABC_D.json │ ├── dataset_control_freq.json │ ├── dataset_img_keys.json │ ├── dataset_stat.json │ ├── finetune_datasets.json │ ├── finetune_sample_weights.json │ ├── pretrain_datasets.json │ ├── pretrain_sample_weights.json │ ├── state_vec.py │ └── zero2.json │ ├── data │ ├── .gitignore │ ├── agilex │ │ └── hdf5totfrecords.py │ ├── compute_dataset_stat.py │ ├── compute_dataset_stat_hdf5.py │ ├── empty_lang_embed.pt │ ├── episode_transform.py │ ├── filelock.py │ ├── hdf5_vla_dataset.py │ ├── preprocess.py │ ├── producer.py │ ├── utils.py │ └── vla_dataset.py │ ├── diffuser │ ├── __init__.py │ ├── datasets │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── buffer.cpython-37.pyc │ │ │ ├── buffer.cpython-38.pyc │ │ │ ├── d4rl.cpython-37.pyc │ │ │ ├── d4rl.cpython-38.pyc │ │ │ ├── normalization.cpython-37.pyc │ │ │ ├── normalization.cpython-38.pyc │ │ │ ├── preprocessing.cpython-37.pyc │ │ │ ├── preprocessing.cpython-38.pyc │ │ │ ├── sequence.cpython-37.pyc │ │ │ └── sequence.cpython-38.pyc │ │ ├── buffer.py │ │ ├── d4rl.py │ │ ├── normalization.py │ │ ├── preprocessing.py │ │ └── sequence.py │ ├── environments │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── hopper.cpython-37.pyc │ │ │ ├── hopper.cpython-38.pyc │ │ │ ├── registration.cpython-310.pyc │ │ │ ├── registration.cpython-37.pyc │ │ │ └── registration.cpython-38.pyc │ │ ├── ant.py │ │ ├── assets │ │ │ ├── ant.xml │ │ │ ├── half_cheetah.xml │ │ │ ├── hopper.xml │ │ │ └── walker2d.xml │ │ ├── half_cheetah.py │ │ ├── hopper.py │ │ ├── maze_core │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── maze_env.cpython-38.pyc │ │ │ │ └── mazes.cpython-38.pyc │ │ │ ├── maze_env.py │ │ │ └── mazes.py │ │ ├── registration.py │ │ └── walker2d.py │ ├── models │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── diffusion.cpython-310.pyc │ │ │ ├── diffusion.cpython-38.pyc │ │ │ ├── helpers.cpython-310.pyc │ │ │ ├── helpers.cpython-38.pyc │ │ │ ├── sampling.cpython-38.pyc │ │ │ └── temporal.cpython-38.pyc │ │ ├── diffusion.py │ │ ├── helpers.py │ │ └── temporal.py │ └── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── arrays.cpython-37.pyc │ │ ├── arrays.cpython-38.pyc │ │ ├── cloud.cpython-37.pyc │ │ ├── cloud.cpython-38.pyc │ │ ├── colab.cpython-37.pyc │ │ ├── colab.cpython-38.pyc │ │ ├── config.cpython-37.pyc │ │ ├── config.cpython-38.pyc │ │ ├── finetuning.cpython-38.pyc │ │ ├── git_utils.cpython-37.pyc │ │ ├── git_utils.cpython-38.pyc │ │ ├── progress.cpython-37.pyc │ │ ├── progress.cpython-38.pyc │ │ ├── rendering.cpython-37.pyc │ │ ├── rendering.cpython-38.pyc │ │ ├── serialization.cpython-37.pyc │ │ ├── serialization.cpython-38.pyc │ │ ├── setup.cpython-37.pyc │ │ ├── setup.cpython-38.pyc │ │ ├── timer.cpython-37.pyc │ │ ├── timer.cpython-38.pyc │ │ ├── training.cpython-37.pyc │ │ ├── training.cpython-38.pyc │ │ ├── video.cpython-38.pyc │ │ └── video_original.cpython-38.pyc │ │ ├── arrays.py │ │ ├── cloud.py │ │ ├── colab.py │ │ ├── config.py │ │ ├── finetuning.py │ │ ├── finetuning_collect.py │ │ ├── finetuning_collect_wandb.py │ │ ├── finetuning_topn.py │ │ ├── finetuning_vector.py │ │ ├── finetuning_wandb.py │ │ ├── git_utils.py │ │ ├── iql.py │ │ ├── progress.py │ │ ├── pybullet_utils.py │ │ ├── rendering.py │ │ ├── serialization.py │ │ ├── setup.py │ │ ├── timer.py │ │ ├── training.py │ │ ├── training_wandb.py │ │ ├── transformations.py │ │ └── video.py │ ├── eval.sh │ ├── finetune.sh │ ├── generate.sh │ ├── main.py │ ├── model.py │ ├── model_config │ └── _generate_model_config.py │ ├── models │ ├── VAE │ │ ├── __pycache__ │ │ │ ├── Example.cpython-310.pyc │ │ │ └── Example.cpython-38.pyc │ │ └── architecture │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── base.cpython-310.pyc │ │ │ ├── base.cpython-38.pyc │ │ │ ├── cross_attention.cpython-310.pyc │ │ │ ├── cross_attention.cpython-38.pyc │ │ │ ├── info_vae.cpython-310.pyc │ │ │ ├── mld_vae.cpython-310.pyc │ │ │ ├── mld_vae.cpython-38.pyc │ │ │ ├── types_.cpython-310.pyc │ │ │ └── types_.cpython-38.pyc │ │ │ ├── base.py │ │ │ ├── cross_attention.py │ │ │ ├── info_vae.py │ │ │ └── types_.py │ ├── __pycache__ │ │ ├── ema_model.cpython-310.pyc │ │ ├── hub_mixin.cpython-310.pyc │ │ ├── hub_mixin.cpython-311.pyc │ │ ├── rdt_runner.cpython-310.pyc │ │ ├── rdt_runner.cpython-311.pyc │ │ └── rdt_runner_guidance.cpython-310.pyc │ ├── ema_model.py │ ├── hub_mixin.py │ ├── multimodal_encoder │ │ ├── __pycache__ │ │ │ ├── siglip_encoder.cpython-310.pyc │ │ │ ├── siglip_encoder.cpython-311.pyc │ │ │ ├── t5_encoder.cpython-310.pyc │ │ │ ├── t5_encoder.cpython-311.pyc │ │ │ └── t5_encoder.cpython-38.pyc │ │ ├── clip_encoder.py │ │ ├── dinov2_encoder.py │ │ ├── siglip_encoder.py │ │ └── t5_encoder.py │ ├── rdt │ │ ├── __pycache__ │ │ │ ├── blocks.cpython-310.pyc │ │ │ ├── blocks.cpython-311.pyc │ │ │ ├── model.cpython-310.pyc │ │ │ └── model.cpython-311.pyc │ │ ├── blocks.py │ │ └── model.py │ ├── rdt_runner.py │ └── rdt_runner_ATE.py │ ├── requirements.txt │ ├── scripts │ ├── agilex_inference.py │ ├── agilex_model.py │ ├── encode_lang.py │ ├── encode_lang_batch.py │ ├── encode_lang_batch_once.py │ ├── maniskill_model.py │ └── read_yaml.py │ └── train │ ├── __pycache__ │ ├── dataset.cpython-310.pyc │ ├── image_corrupt.cpython-310.pyc │ ├── sample.cpython-310.pyc │ ├── train.cpython-310.pyc │ └── train_guidance.cpython-310.pyc │ ├── dataset.py │ ├── image_corrupt.py │ ├── sample.py │ ├── train.py │ └── train_ATE.py ├── README.md └── assets └── .gitkeep /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store 2 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