├── README.md ├── imagenet ├── .gitignore ├── README.md ├── assets │ └── figure.png ├── data │ ├── partiprompts_1000.txt │ └── wikiart │ │ ├── 0.png │ │ ├── 1.png │ │ ├── 2.png │ │ └── 3.png ├── diffusion │ ├── __init__.py │ ├── audio_diffusion.py │ ├── base.py │ ├── ddim.py │ ├── stable_diffusion.py │ └── unet │ │ ├── README.md │ │ ├── huggingface.py │ │ └── openai.py ├── evaluations │ ├── __init__.py │ ├── audio.py │ ├── base.py │ ├── image.py │ ├── molecule.py │ └── utils │ │ ├── fid.py │ │ ├── frechet_audio_distance │ │ ├── __init__.py │ │ ├── clap_score.py │ │ ├── fad.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── pann.py │ │ │ └── pytorch_utils.py │ │ └── utils.py │ │ ├── inception.py │ │ ├── inception_score.py │ │ └── torch_sqrtm.py ├── logger │ ├── __init__.py │ ├── audio_logger.py │ ├── base.py │ ├── image_logger.py │ └── molecule_logger.py ├── main.py ├── methods │ ├── __init__.py │ ├── base.py │ ├── bfs.py │ ├── cg.py │ ├── dps.py │ ├── freedom.py │ ├── lgd.py │ ├── mpgd.py │ ├── tfg.py │ └── ugd.py ├── pipeline.py ├── requirements.txt ├── scripts │ ├── audio_declipping.sh │ ├── audio_inpainting.sh │ ├── bird_finegrained.sh │ ├── celeba_combine.sh │ ├── cifar10_label.sh │ ├── cifar10_label_time.sh │ ├── gaussian_deblur.sh │ ├── guided_diffusion.sh │ ├── imagenet_label.sh │ ├── molecule_property.sh │ ├── search │ │ ├── bfs_pruning.sh │ │ ├── bfs_resample.sh │ │ └── bon.sh │ ├── style_transfer.sh │ └── super_resolution.sh ├── searching.py ├── setup.md ├── tasks │ ├── __init__.py │ ├── audio_declipping.py │ ├── audio_inpainting.py │ ├── base.py │ ├── gaussian_deblur.py │ ├── image_label_guidance.py │ ├── molecule_properties.py │ ├── networks │ │ ├── egnn │ │ │ ├── EDM.py │ │ │ ├── EGNN.py │ │ │ ├── EGNN_prop.py │ │ │ ├── dataset.py │ │ │ ├── energy.py │ │ │ └── utils.py │ │ ├── huggingface_classifier.py │ │ ├── image_inverse_operator.py │ │ ├── qm9 │ │ │ ├── __init__.py │ │ │ ├── analyze.py │ │ │ ├── bond_analyze.py │ │ │ ├── data │ │ │ │ ├── __init__.py │ │ │ │ ├── args.py │ │ │ │ ├── collate.py │ │ │ │ ├── dataset_class.py │ │ │ │ ├── prepare │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── download.py │ │ │ │ │ ├── md17.py │ │ │ │ │ ├── qm9.py │ │ │ │ │ └── utils.py │ │ │ │ └── utils.py │ │ │ ├── dataset.py │ │ │ ├── datasets_config.py │ │ │ ├── losses.py │ │ │ ├── models.py │ │ │ ├── property_prediction │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── main_qm9_prop.py │ │ │ │ ├── models │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── gcl.py │ │ │ │ ├── models_property.py │ │ │ │ └── prop_utils.py │ │ │ ├── rdkit_functions.py │ │ │ ├── sampling.py │ │ │ ├── utils.py │ │ │ └── visualizer.py │ │ ├── resnet.py │ │ ├── style_CLIP.py │ │ └── time_dependent_classifier.py │ ├── style_transfer_guidance.py │ ├── super_resolution.py │ └── utils.py └── utils │ ├── __init__.py │ ├── configs.py │ ├── env_utils.py │ ├── utils.py │ ├── vis_molecule.py │ └── vis_utils.py ├── locomotion ├── .gitignore ├── README.md ├── dataset │ ├── __init__.py │ └── dataset.py ├── diffusion_SDE │ ├── __init__.py │ ├── dpm_solver_pytorch.py │ ├── loss.py │ ├── model.py │ ├── schedule.py │ └── unconditional_model.py ├── eval_ft.py ├── exp_cep.py ├── exp_tts.py ├── pipeline.py ├── search │ ├── __init__.py │ ├── configs.py │ ├── ddim.py │ ├── tfg.py │ └── utils.py ├── setup.py ├── train_behavior.py ├── train_critic.py └── utils.py ├── pointmaze ├── .dockerignore ├── .gitignore ├── LICENSE ├── README.md ├── azure │ ├── Dockerfile │ ├── config.py │ ├── files │ │ ├── 10_nvidia.json │ │ ├── Xdummy │ │ └── mjkey.txt │ └── launch.py ├── config │ ├── locomotion.py │ └── pointmaze.py ├── diffuser │ ├── __init__.py │ ├── datasets │ │ ├── __init__.py │ │ ├── buffer.py │ │ ├── d4rl.py │ │ ├── normalization.py │ │ ├── preprocessing.py │ │ └── sequence.py │ ├── environments │ │ ├── __init__.py │ │ ├── ant.py │ │ ├── assets │ │ │ ├── ant.xml │ │ │ ├── half_cheetah.xml │ │ │ ├── hopper.xml │ │ │ └── walker2d.xml │ │ ├── half_cheetah.py │ │ ├── hopper.py │ │ ├── registration.py │ │ └── walker2d.py │ ├── guides │ │ └── policies.py │ ├── models │ │ ├── __init__.py │ │ ├── diffusion.py │ │ ├── helpers.py │ │ └── temporal.py │ └── utils │ │ ├── __init__.py │ │ ├── arrays.py │ │ ├── cloud.py │ │ ├── colab.py │ │ ├── config.py │ │ ├── git_utils.py │ │ ├── iql.py │ │ ├── progress.py │ │ ├── pybullet_utils.py │ │ ├── rendering.py │ │ ├── serialization.py │ │ ├── setup.py │ │ ├── timer.py │ │ ├── training.py │ │ ├── transformations.py │ │ └── video.py ├── ogbench │ ├── .gitignore │ ├── CHANGELOG.md │ ├── LICENSE │ ├── README.md │ ├── assets │ │ └── ogbench.svg │ ├── data_gen_scripts │ │ ├── generate_antsoccer.py │ │ ├── generate_locomaze.py │ │ ├── generate_manipspace.py │ │ ├── generate_powderworld.py │ │ ├── main_sac.py │ │ ├── online_env_utils.py │ │ └── viz_utils.py │ ├── impls │ │ ├── agents │ │ │ ├── __init__.py │ │ │ ├── crl.py │ │ │ ├── gcbc.py │ │ │ ├── gciql.py │ │ │ ├── gcivl.py │ │ │ ├── hiql.py │ │ │ ├── qrl.py │ │ │ └── sac.py │ │ ├── main.py │ │ ├── requirements.txt │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── datasets.py │ │ │ ├── encoders.py │ │ │ ├── env_utils.py │ │ │ ├── evaluation.py │ │ │ ├── flax_utils.py │ │ │ └── networks.py │ ├── ogbench │ │ ├── __init__.py │ │ ├── locomaze │ │ │ ├── __init__.py │ │ │ ├── ant.py │ │ │ ├── assets │ │ │ │ ├── ant.xml │ │ │ │ ├── humanoid.xml │ │ │ │ └── point.xml │ │ │ ├── humanoid.py │ │ │ ├── maze.py │ │ │ └── point.py │ │ ├── manipspace │ │ │ ├── __init__.py │ │ │ ├── controllers │ │ │ │ ├── __init__.py │ │ │ │ └── diff_ik.py │ │ │ ├── descriptions │ │ │ │ ├── button_inner.xml │ │ │ │ ├── button_outer.xml │ │ │ │ ├── buttons.xml │ │ │ │ ├── cube.xml │ │ │ │ ├── cube_inner.xml │ │ │ │ ├── cube_outer.xml │ │ │ │ ├── drawer.xml │ │ │ │ ├── floor_wall.xml │ │ │ │ ├── metaworld │ │ │ │ │ ├── button │ │ │ │ │ │ ├── button.stl │ │ │ │ │ │ ├── buttonring.stl │ │ │ │ │ │ ├── stopbot.stl │ │ │ │ │ │ ├── stopbutton.stl │ │ │ │ │ │ ├── stopbuttonrim.stl │ │ │ │ │ │ ├── stopbuttonrod.stl │ │ │ │ │ │ └── stoptop.stl │ │ │ │ │ ├── drawer │ │ │ │ │ │ ├── drawer.stl │ │ │ │ │ │ ├── drawercase.stl │ │ │ │ │ │ └── drawerhandle.stl │ │ │ │ │ └── window │ │ │ │ │ │ ├── window_base.stl │ │ │ │ │ │ ├── window_frame.stl │ │ │ │ │ │ ├── window_h_base.stl │ │ │ │ │ │ ├── window_h_frame.stl │ │ │ │ │ │ ├── windowa_frame.stl │ │ │ │ │ │ ├── windowa_glass.stl │ │ │ │ │ │ ├── windowa_h_frame.stl │ │ │ │ │ │ ├── windowa_h_glass.stl │ │ │ │ │ │ ├── windowb_frame.stl │ │ │ │ │ │ ├── windowb_glass.stl │ │ │ │ │ │ ├── windowb_h_frame.stl │ │ │ │ │ │ └── windowb_h_glass.stl │ │ │ │ ├── robotiq_2f85 │ │ │ │ │ ├── 2f85.xml │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── README.md │ │ │ │ │ ├── assets │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ ├── base_mount.stl │ │ │ │ │ │ ├── coupler.stl │ │ │ │ │ │ ├── driver.stl │ │ │ │ │ │ ├── follower.stl │ │ │ │ │ │ ├── pad.stl │ │ │ │ │ │ ├── silicone_pad.stl │ │ │ │ │ │ └── spring_link.stl │ │ │ │ │ └── scene.xml │ │ │ │ ├── universal_robots_ur5e │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── README.md │ │ │ │ │ ├── assets │ │ │ │ │ │ ├── base_0.obj │ │ │ │ │ │ ├── base_1.obj │ │ │ │ │ │ ├── forearm_0.obj │ │ │ │ │ │ ├── forearm_1.obj │ │ │ │ │ │ ├── forearm_2.obj │ │ │ │ │ │ ├── forearm_3.obj │ │ │ │ │ │ ├── shoulder_0.obj │ │ │ │ │ │ ├── shoulder_1.obj │ │ │ │ │ │ ├── shoulder_2.obj │ │ │ │ │ │ ├── upperarm_0.obj │ │ │ │ │ │ ├── upperarm_1.obj │ │ │ │ │ │ ├── upperarm_2.obj │ │ │ │ │ │ ├── upperarm_3.obj │ │ │ │ │ │ ├── wrist1_0.obj │ │ │ │ │ │ ├── wrist1_1.obj │ │ │ │ │ │ ├── wrist1_2.obj │ │ │ │ │ │ ├── wrist2_0.obj │ │ │ │ │ │ ├── wrist2_1.obj │ │ │ │ │ │ ├── wrist2_2.obj │ │ │ │ │ │ └── wrist3.obj │ │ │ │ │ ├── scene.xml │ │ │ │ │ └── ur5e.xml │ │ │ │ └── window.xml │ │ │ ├── envs │ │ │ │ ├── __init__.py │ │ │ │ ├── cube_env.py │ │ │ │ ├── env.py │ │ │ │ ├── manipspace_env.py │ │ │ │ ├── puzzle_env.py │ │ │ │ └── scene_env.py │ │ │ ├── lie │ │ │ │ ├── __init__.py │ │ │ │ ├── se3.py │ │ │ │ ├── so3.py │ │ │ │ └── utils.py │ │ │ ├── mjcf_utils.py │ │ │ ├── oracles │ │ │ │ ├── __init__.py │ │ │ │ ├── markov │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── button_markov.py │ │ │ │ │ ├── cube_markov.py │ │ │ │ │ ├── drawer_markov.py │ │ │ │ │ ├── markov_oracle.py │ │ │ │ │ └── window_markov.py │ │ │ │ └── plan │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── button_plan.py │ │ │ │ │ ├── cube_plan.py │ │ │ │ │ ├── drawer_plan.py │ │ │ │ │ ├── plan_oracle.py │ │ │ │ │ └── window_plan.py │ │ │ └── viewer_utils.py │ │ ├── online_locomotion │ │ │ ├── __init__.py │ │ │ ├── ant.py │ │ │ ├── ant_ball.py │ │ │ ├── assets │ │ │ │ ├── ant.xml │ │ │ │ └── humanoid.xml │ │ │ ├── humanoid.py │ │ │ └── wrappers.py │ │ ├── powderworld │ │ │ ├── __init__.py │ │ │ ├── behaviors.py │ │ │ ├── powderworld_env.py │ │ │ └── sim.py │ │ ├── relabel_utils.py │ │ └── utils.py │ └── pyproject.toml ├── requirements.txt ├── run.py ├── scripts │ ├── convert_checkpoints.py │ ├── diffuser_sample.ipynb │ ├── plan_maze2d.py │ ├── plan_pointmaze.py │ ├── train.py │ ├── train_pointmaze.py │ └── train_resume.py ├── search │ ├── __init__.py │ ├── base_pipeline.py │ ├── base_policy.py │ ├── configs.py │ ├── maze_verifier.py │ ├── methods │ │ ├── base_guidance.py │ │ ├── bfs.py │ │ ├── dfs.py │ │ └── tfg.py │ ├── script_utils.py │ ├── search_policy.py │ └── utils.py └── setup.py └── text_to_image ├── README.md ├── __pycache__ └── fks_utils.cpython-310.pyc ├── fkd_diffusers ├── __pycache__ │ ├── fkd_class.cpython-310.pyc │ ├── fkd_pipeline_sd.cpython-310.pyc │ ├── fkd_pipeline_sdxl.cpython-310.pyc │ ├── image_reward_utils.cpython-310.pyc │ ├── llm_grading.cpython-310.pyc │ ├── rewards.cpython-310.pyc │ └── smc_utils.cpython-310.pyc ├── fkd_class.py ├── fkd_pipeline_sd.py ├── fkd_pipeline_sdxl.py ├── image_reward_utils.py ├── llm_grading.py ├── rewards.py └── smc_utils.py ├── fks_utils.py ├── generate_samples_for_paper.py ├── launch.sh ├── launch_eval_runs.py ├── playground_fksteering.ipynb ├── prompt_files ├── benchmark_ir.json ├── geneval_metadata.jsonl 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