├── .gitignore ├── README.md ├── docs ├── bottle.png ├── bottle_depth.png ├── cans.png ├── drawer.npy ├── method.png ├── model_card.md └── money.npy ├── inference_ldm_goal_image.py ├── inference_pe_goal_pcd.py ├── launcher ├── train_ldm.sh ├── train_llm.sh └── train_pe.sh ├── lavis ├── __init__.py ├── common │ ├── config.py │ ├── dist_utils.py │ ├── gradcam.py │ ├── logger.py │ ├── optims.py │ ├── registry.py │ ├── utils.py │ └── vqa_tools │ │ ├── __init__.py │ │ ├── vqa.py │ │ └── vqa_eval.py ├── configs │ ├── datasets │ │ ├── 3dvqa │ │ │ └── defaults.yaml │ │ └── coco │ │ │ ├── defaults_cap.yaml │ │ │ ├── defaults_ret.yaml │ │ │ ├── defaults_vqa.yaml │ │ │ └── eval_vqa.yaml │ ├── default.yaml │ └── models │ │ └── blip2 │ │ ├── blip2_caption_flant5xl.yaml │ │ ├── blip2_caption_opt2.7b.yaml │ │ ├── blip2_caption_opt6.7b.yaml │ │ ├── blip2_coco.yaml │ │ ├── blip2_pretrain.yaml │ │ ├── blip2_pretrain_flant5xl.yaml │ │ ├── blip2_pretrain_flant5xl_vitL.yaml │ │ ├── blip2_pretrain_flant5xxl.yaml │ │ ├── blip2_pretrain_opt2.7b.yaml │ │ ├── blip2_pretrain_opt6.7b.yaml │ │ └── blip2_pretrain_vitL.yaml ├── datasets │ ├── builders │ │ ├── __init__.py │ │ ├── base_dataset_builder.py │ │ └── vqa_builder.py │ ├── data_utils.py │ └── datasets │ │ ├── base_dataset.py │ │ ├── dataloader_utils.py │ │ ├── goal_ldm_datasets.py │ │ ├── goal_pcd_rlbench_datasets.py │ │ ├── openx_test_id │ │ ├── bc_z_test.txt │ │ ├── bridge_test.txt │ │ ├── cmu_play_fusion_test.txt │ │ ├── cmu_playing_with_food_test.txt │ │ ├── droid_test.txt │ │ ├── fractal20220817_data_test.txt │ │ ├── jaco_play_test.txt │ │ ├── language_table_test.txt │ │ ├── roboturk_test.txt │ │ ├── taco_play_test.txt │ │ ├── ucsd_pick_and_place_dataset_converted_externally_to_rlds_test.txt │ │ └── utaustin_mutex_test.txt │ │ ├── threedvqa_datasets.py │ │ └── vqa_datasets.py ├── models │ ├── __init__.py │ ├── align_layers.py │ ├── base_model.py │ ├── blip2_models │ │ ├── Qformer.py │ │ ├── __init__.py │ │ ├── blip2.py │ │ ├── blip2_t5.py │ │ └── modeling_t5.py │ ├── clip_vit.py │ ├── eva_vit.py │ ├── med.py │ ├── pointe │ │ ├── __init__.py │ │ ├── checkpoint.py │ │ ├── configs.py │ │ ├── download.py │ │ ├── perceiver.py │ │ ├── pretrained_clip.py │ │ ├── sdf.py │ │ ├── transformer.py │ │ └── util.py │ └── vit.py ├── processors │ ├── __init__.py │ ├── base_processor.py │ ├── blip_processors.py │ ├── functional_video.py │ ├── randaugment.py │ └── transforms_video.py ├── projects │ └── blip2 │ │ └── train │ │ └── pretrain │ │ └── 3d_flant5_robo_pretrain.yaml ├── runners │ ├── __init__.py │ ├── runner_base.py │ └── runner_iter.py └── tasks │ ├── __init__.py │ ├── base_task.py │ └── vqa.py ├── requirements.txt ├── train.py ├── train_ldm_goal_image.py └── train_pe_goal_pcd.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UMass-Embodied-AGI/3D-VLA/HEAD/.gitignore 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