├── .gitignore ├── README.md ├── configs ├── __init__.py ├── config.yaml ├── data │ └── default.yaml ├── datasets │ └── default.yaml ├── eval │ └── default.yaml ├── lifelong │ ├── agem.yaml │ ├── base.yaml │ ├── er.yaml │ ├── ewc.yaml │ ├── groot_single_task.yaml │ ├── multitask.yaml │ ├── packnet.yaml │ ├── single_task.yaml │ └── vos_3d_single_task_low_precision.yaml ├── policy │ ├── bc_mae_policy.yaml │ ├── bc_mae_policy.yaml~ │ ├── bc_peract_policy.yaml~ │ ├── bc_real_robot_rnn_rgbd_policy.yaml │ ├── bc_rnn_policy.yaml │ ├── bc_rnn_rgbd_policy.yaml │ ├── bc_transformer_policy.yaml │ ├── bc_vilt_policy.yaml │ ├── bc_viola_policy.yaml │ ├── data_augmentation │ │ ├── batch_wise_img_color_jitter_group_aug.yaml │ │ ├── identity_aug.yaml │ │ ├── img_color_jitter_group_aug.yaml │ │ ├── se3_augmentation.yaml │ │ ├── se3_augmentation_2.yaml │ │ ├── se3_augmentation_3.yaml │ │ ├── translation_aug.yaml │ │ └── translation_aug_group.yaml │ ├── groot_real_robot_no_wrist_transformer_policy.yaml │ ├── image_encoder │ │ ├── patch_encoder.yaml │ │ └── resnet_encoder.yaml │ ├── language_encoder │ │ ├── clip_encoder.yaml │ │ ├── identity_encoder.yaml │ │ ├── mlp_encoder.yaml │ │ └── rnn_encoder.yaml │ ├── pcd_encoder │ │ ├── masked_pointnet_encoder.yaml │ │ └── pointnet_encoder.yaml │ ├── policy_head │ │ └── gmm_head.yaml │ ├── position_encoding │ │ └── sinusoidal_position_encoding.yaml │ ├── vos_3d_masked_transformer_policy.yaml │ ├── vos_3d_object_transformer_policy.yaml │ ├── vos_3d_real_robot_masked_no_wrist_transformer_policy.yaml │ ├── vos_3d_real_robot_object_transformer_policy.yaml │ ├── vos_3d_robot_embeddings_masked_transformer_policy.yaml │ ├── vos_3d_robot_masked_ee_transformer_policy.yaml │ ├── vos_3d_robot_masked_no_wrist_transformer_policy.yaml │ ├── vos_3d_robot_masked_transformer_policy.yaml │ ├── vos_3d_transformer_policy.yaml │ ├── vos_3d_wrist_transformer_policy.yaml │ ├── vos_3d_wrist_transformer_policy_v2.yaml │ └── wrist_transformer_policy.yaml ├── real_robot_experiments │ └── example_exp.yaml ├── templates │ ├── augmentation_template.yaml │ ├── grouping_template.yaml │ └── masked_transformer.yaml └── train │ ├── default.yaml │ ├── optimizer │ └── adam_w.yaml │ └── scheduler │ ├── cosine_annealing.yaml │ └── cosine_annealing_warm_restarts.yaml ├── docs └── scribble_demo.gif ├── download_example_data.sh ├── groot_imitation ├── __init__.py ├── groot_algo │ ├── __init__.py │ ├── dataset_preprocessing │ │ ├── __init__.py │ │ ├── pcd_generation.py │ │ └── vos_annotation.py │ ├── dino_features.py │ ├── env_wrapper.py │ ├── eval_utils.py │ ├── groot_transformer │ │ ├── __init__.py │ │ ├── groot_real_robot_no_wrist_transformer_policy.py │ │ └── groot_transformer_algo.py │ ├── input_utils.py │ ├── misc_utils.py │ ├── modules.py │ ├── o3d_modules.py │ ├── point_mae_modules.py │ ├── sam_operator.py │ └── xmem_tracker.py ├── segmentation_correspondence_model │ ├── init_path.py │ ├── sam_amg.py │ └── scm.py └── vision_model_configs │ ├── sam_config.yaml │ └── xmem_config.yaml ├── real_robot_scripts ├── __init__.py ├── create_dataset.py ├── deoxys_data_collection.py ├── deoxys_reset_joints.py ├── evaluation_configs │ ├── eval_camera.yaml │ ├── eval_canonical.yaml │ ├── eval_distractions.yaml │ └── eval_new_instances.yaml ├── groot_img_utils.py ├── init_path.py ├── real_robot_observation_cfg_example.yml ├── real_robot_sam_result.py ├── real_robot_utils.py ├── verify_camera_observations.ipynb └── verify_camera_observations.py ├── requirements.txt ├── scripts ├── aug_demo_generation.py ├── dataset_configs │ ├── config.yaml │ └── datasets │ │ └── default.yaml ├── init_path.py ├── interactive_demo_example.py ├── interactive_demo_from_datasets.py ├── prepare_training_set.py ├── real_robot_eval_checkpoint.py ├── single_task_real_robot_training.py └── single_task_training.py ├── setup.py ├── setup_vision_models.sh ├── third_party └── XMem │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── dataset │ ├── __init__.py │ ├── range_transform.py │ ├── reseed.py │ ├── static_dataset.py │ ├── tps.py │ ├── util.py │ └── vos_dataset.py │ ├── docs │ ├── DEMO.md │ ├── ECCV-logo.png │ ├── FAILURE_CASES.md │ ├── GETTING_STARTED.md │ ├── INFERENCE.md │ ├── PALETTE.md │ ├── RESULTS.md │ ├── TRAINING.md │ ├── icon.png │ ├── index.html │ └── style.css │ ├── eval.py │ ├── inference │ ├── __init__.py │ ├── data │ │ ├── __init__.py │ │ ├── mask_mapper.py │ │ ├── test_datasets.py │ │ └── video_reader.py │ ├── inference_core.py │ ├── interact │ │ ├── __init__.py │ │ ├── fbrs │ │ │ ├── LICENSE │ │ │ ├── __init__.py │ │ │ ├── controller.py │ │ │ ├── inference │ │ │ │ ├── __init__.py │ │ │ │ ├── clicker.py │ │ │ │ ├── evaluation.py │ │ │ │ ├── predictors │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── base.py │ │ │ │ │ ├── brs.py │ │ │ │ │ ├── brs_functors.py │ │ │ │ │ └── brs_losses.py │ │ │ │ ├── transforms │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── base.py │ │ │ │ │ ├── crops.py │ │ │ │ │ ├── flip.py │ │ │ │ │ ├── limit_longest_side.py │ │ │ │ │ └── zoom_in.py │ │ │ │ └── utils.py │ │ │ ├── model │ │ │ │ ├── __init__.py │ │ │ │ ├── initializer.py │ │ │ │ ├── is_deeplab_model.py │ │ │ │ ├── is_hrnet_model.py │ │ │ │ ├── losses.py │ │ │ │ ├── metrics.py │ │ │ │ ├── modeling │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── basic_blocks.py │ │ │ │ │ ├── deeplab_v3.py │ │ │ │ │ ├── hrnet_ocr.py │ │ │ │ │ ├── ocr.py │ │ │ │ │ ├── resnet.py │ │ │ │ │ └── resnetv1b.py │ │ │ │ ├── ops.py │ │ │ │ └── syncbn │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── modules │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── functional │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── _csrc.py │ │ │ │ │ ├── csrc │ │ │ │ │ │ ├── bn.h │ │ │ │ │ │ ├── cuda │ │ │ │ │ │ │ ├── bn_cuda.cu │ │ │ │ │ │ │ ├── common.h │ │ │ │ │ │ │ └── ext_lib.h │ │ │ │ │ │ └── ext_lib.cpp │ │ │ │ │ └── syncbn.py │ │ │ │ │ └── nn │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── syncbn.py │ │ │ └── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── cython │ │ │ │ ├── __init__.py │ │ │ │ ├── _get_dist_maps.pyx │ │ │ │ ├── _get_dist_maps.pyxbld │ │ │ │ └── dist_maps.py │ │ │ │ ├── misc.py │ │ │ │ └── vis.py │ │ ├── fbrs_controller.py │ │ ├── gui.py │ │ ├── gui_utils.py │ │ ├── interaction.py │ │ ├── interactive_utils.py │ │ ├── resource_manager.py │ │ ├── s2m │ │ │ ├── __init__.py │ │ │ ├── _deeplab.py │ │ │ ├── s2m_network.py │ │ │ ├── s2m_resnet.py │ │ │ └── utils.py │ │ ├── s2m_controller.py │ │ └── timer.py │ ├── kv_memory_store.py │ └── memory_manager.py │ ├── interactive_demo.py │ ├── merge_multi_scale.py │ ├── model │ ├── __init__.py │ ├── aggregate.py │ ├── cbam.py │ ├── group_modules.py │ ├── losses.py │ ├── memory_util.py │ ├── modules.py │ ├── network.py │ ├── resnet.py │ └── trainer.py │ ├── requirements.txt │ ├── requirements_demo.txt │ ├── scripts │ ├── __init__.py │ ├── download_bl30k.py │ ├── download_datasets.py │ ├── download_models.sh │ ├── download_models_demo.sh │ ├── expand_long_vid.py │ └── resize_youtube.py │ ├── train.py │ └── util │ ├── __init__.py │ ├── configuration.py │ ├── davis_subset.txt │ ├── image_saver.py │ ├── load_subset.py │ ├── log_integrator.py │ ├── logger.py │ ├── palette.py │ ├── tensor_util.py │ └── yv_subset.txt └── walkthrough_example.ipynb /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UT-Austin-RPL/GROOT/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UT-Austin-RPL/GROOT/HEAD/README.md -------------------------------------------------------------------------------- /configs/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /configs/config.yaml: 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