├── .gitignore ├── LICENSE ├── MANIFEST.in ├── README.md ├── docs ├── .gitignore ├── Makefile ├── _static │ └── theme_overrides.css ├── api │ ├── robomimic.algo.rst │ ├── robomimic.config.rst │ ├── robomimic.envs.rst │ ├── robomimic.models.rst │ ├── robomimic.rst │ └── robomimic.utils.rst ├── conf.py ├── datasets │ ├── d4rl.md │ ├── momart.md │ ├── overview.md │ ├── robomimic_v0.1.md │ ├── robosuite.md │ └── roboturk_pilot.md ├── images │ ├── can.png │ ├── can_paired.png │ ├── can_real.jpg │ ├── core_features.png │ ├── lift.png │ ├── lift_real.jpg │ ├── machine_generated.png │ ├── module_overview.png │ ├── modules.png │ ├── momart_bowl_in_sink.png │ ├── momart_dump_trash.png │ ├── momart_grab_bowl.png │ ├── momart_open_dishwasher.png │ ├── momart_open_dresser.png │ ├── momart_table_cleanup_to_dishwasher_overview.png │ ├── momart_table_cleanup_to_sink_overview.png │ ├── momart_table_setup_from_dishwasher_overview.png │ ├── momart_table_setup_from_dresser_overview.png │ ├── momart_unload_dishwasher_to_dresser_overview.png │ ├── multi_human.png │ ├── proficient_human.png │ ├── randomizer.gif │ ├── roboturk_pilot.png │ ├── square.png │ ├── task_can.gif │ ├── task_can_real.gif │ ├── task_lift.gif │ ├── task_lift_real.gif │ ├── task_square.gif │ ├── task_tool_hang.gif │ ├── task_tool_hang_real.gif │ ├── task_transport.gif │ ├── tensorboard.png │ ├── tool_hang.png │ ├── tool_hang_real.jpg │ └── transport.png ├── index.rst ├── introduction │ ├── getting_started.md │ ├── implemented_algorithms.md │ ├── installation.md │ └── overview.md ├── miscellaneous │ ├── acknowledgments.md │ ├── contributing.md │ ├── references.md │ ├── team.md │ └── troubleshooting.md ├── model_zoo │ └── robomimic_v0.1.md ├── modules │ ├── algorithms.md │ ├── configs.md │ ├── dataset.md │ ├── environments.md │ ├── models.md │ └── overview.md └── tutorials │ ├── configs.md │ ├── custom_algorithms.md │ ├── dataset_contents.md │ ├── hyperparam_scan.md │ ├── observations.md │ ├── reproducing_experiments.md │ ├── tensor_collections.md │ ├── using_pretrained_models.md │ └── viewing_results.md ├── examples ├── add_new_modality.py ├── notebooks │ ├── datasets.ipynb │ └── run_policy.ipynb ├── simple_config.py ├── simple_obs_nets.py ├── simple_train_loop.py └── train_bc_rnn.py ├── requirements-docs.txt ├── requirements.txt ├── robomimic ├── __init__.py ├── algo │ ├── __init__.py │ ├── algo.py │ ├── bc.py │ ├── bcq.py │ ├── cql.py │ ├── gl.py │ ├── hbc.py │ ├── iris.py │ ├── skill_learning.py │ ├── spl.py │ └── td3_bc.py ├── config │ ├── __init__.py │ ├── base_config.py │ ├── bc_config.py │ ├── bcq_config.py │ ├── config.py │ ├── cql_config.py │ ├── gl_config.py │ ├── hbc_config.py │ ├── iris_config.py │ ├── skill_learning_config.py │ ├── spl_config.py │ └── td3_bc_config.py ├── envs │ ├── __init__.py │ ├── env_base.py │ ├── env_calvin.py │ ├── env_gym.py │ ├── env_ig_momart.py │ ├── env_robosuite.py │ └── wrappers.py ├── exps │ └── templates │ │ ├── bc.json │ │ ├── bcq.json │ │ ├── cql.json │ │ ├── gl.json │ │ ├── hbc.json │ │ ├── iris.json │ │ ├── sailor.json │ │ └── td3_bc.json ├── macros.py ├── models │ ├── __init__.py │ ├── base_nets.py │ ├── distributions.py │ ├── obs_nets.py │ ├── policy_nets.py │ ├── skill_nets.py │ ├── vae_nets.py │ └── value_nets.py ├── scripts │ ├── config_gen │ │ ├── helper.py │ │ ├── sailor_ft_gen.py │ │ └── sailor_pt_gen.py │ ├── conversion │ │ ├── convert_calvin.py │ │ ├── convert_d4rl.py │ │ ├── convert_robosuite.py │ │ └── convert_roboturk_pilot.py │ ├── dataset_states_to_obs.py │ ├── download_datasets.py │ ├── download_momart_datasets.py │ ├── extract_obs_from_raw_datasets.sh │ ├── generate_config_templates.py │ ├── generate_paper_configs.py │ ├── get_dataset_info.py │ ├── hyperparam_helper.py │ ├── playback_dataset.py │ ├── run_trained_agent.py │ ├── setup_macros.py │ ├── split_train_val.py │ └── train.py └── utils │ ├── __init__.py │ ├── dataset.py │ ├── env_utils.py │ ├── file_utils.py │ ├── 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