├── .gitignore ├── README.md ├── assets ├── KitchenKnife.mtl ├── KitchenKnife.obj ├── cuttingboard │ ├── Cutting_Board.mtl │ ├── Cutting_Board.obj │ └── textures │ │ ├── Cutting_Board_AO.png │ │ ├── Cutting_Board_BaseColor.png │ │ ├── Cutting_Board_Diffuse.png │ │ ├── Cutting_Board_Fresnel.png │ │ ├── Cutting_Board_Glossiness.png │ │ ├── Cutting_Board_Metallic.png │ │ ├── Cutting_Board_Normal.png │ │ ├── Cutting_Board_Roughness.png │ │ ├── Cutting_Board_Specular.png │ │ └── TSHero_HDRI_v10.exr ├── lut.jpg ├── monkey.obj ├── smoke.npy └── table │ ├── Table_Coffee_RiceChest.mtl │ ├── Table_Coffee_RiceChest.obj │ └── Table_Coffee_RiceChest │ └── _Wood_Cherry_.jpg ├── core └── diffskill │ ├── env_spec.py │ └── gen_init_target │ ├── crs_generator.py │ ├── crs_generator_realworld.py │ ├── crs_generator_rotate.py │ ├── cutrearrange_generator_0528.py │ ├── cutrearrange_generator_realworld.py │ ├── gathermove_generator_V2.py │ ├── generate.sh │ ├── multicut_generator.py │ ├── multimerge_generator.py │ ├── state_generator.py │ └── tests │ ├── inspect_pc.ipynb │ └── test_gen_multicut.ipynb ├── environment.yml ├── imgs ├── diffskill_cut_execute_2_plot.gif ├── diffskill_execute_0_plot.gif ├── diffskill_execute_1_plot.gif └── pull.jpg ├── plb ├── __init__.py ├── algorithms │ ├── TD3 │ │ ├── DDPG.py │ │ ├── LICENSE │ │ ├── OurDDPG.py │ │ ├── README.md │ │ ├── TD3.py │ │ ├── main.py │ │ ├── run_experiments.sh │ │ ├── run_td3.py │ │ └── utils.py │ ├── cem │ │ ├── cem.py │ │ └── parallel_worker.py │ ├── discor │ │ ├── LICENSE │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── algorithm │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── discor.py │ │ │ ├── eval.py │ │ │ └── sac.py │ │ ├── network.py │ │ ├── replay_buffer.py │ │ ├── run_sac.py │ │ ├── test │ │ │ └── test_sac.py │ │ └── utils.py │ ├── logger.py │ ├── ppo │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── README.md │ │ ├── enjoy.py │ │ ├── evaluation.py │ │ ├── gail_experts │ │ │ ├── README.md │ │ │ └── convert_to_pytorch.py │ │ ├── generate_tmux_yaml.py │ │ ├── main.py │ │ ├── ppo │ │ │ ├── __init__.py │ │ │ ├── algo │ │ │ │ ├── __init__.py │ │ │ │ ├── a2c_acktr.py │ │ │ │ ├── gail.py │ │ │ │ ├── kfac.py │ │ │ │ └── ppo.py │ │ │ ├── arguments.py │ │ │ ├── distributions.py │ │ │ ├── envs.py │ │ │ ├── model.py │ │ │ ├── storage.py │ │ │ └── utils.py │ │ ├── requirements.txt │ │ ├── run.sh │ │ ├── run_all.yaml │ │ ├── run_ppo.py │ │ └── setup.py │ └── solve.py ├── collect_start_goal.ipynb ├── config │ ├── __init__.py │ ├── default_config.py │ └── utils.py ├── cut │ ├── collect_trajs.ipynb │ ├── configs │ │ ├── gathermove_0_100.yml │ │ ├── gathermove_0_200.yml │ │ ├── gathermove_1_200.yml │ │ ├── gathermove_2_200.yml │ │ └── test.yml │ ├── cut_rearrange.yml │ ├── cut_rearrange_0528.yml │ ├── gen_target.ipynb │ ├── lift.yml │ ├── multi_env.ipynb │ ├── pipeline.ipynb │ ├── sample_utils.py │ ├── save_cached_state.ipynb │ ├── solve.py │ ├── solve_func.py │ ├── solve_utils.py │ ├── test.py │ ├── test2.py │ ├── test_lift.ipynb │ └── test_renderer.ipynb ├── engine │ ├── __init__.py │ ├── function.py │ ├── losses │ │ ├── __init__.py │ │ └── loss.py │ ├── mpm_simulator.py │ ├── nn │ │ └── mlp.py │ ├── primitive │ │ ├── __init__.py │ │ ├── demo.py │ │ ├── primitives.py │ │ ├── primive_base.py │ │ ├── test_primitives.py │ │ └── utils.py │ ├── renderer │ │ ├── __init__.py │ │ ├── renderer.py │ │ ├── renderer_tester.py │ │ ├── renderer_utils.py │ │ └── test.py │ ├── shapes │ │ ├── __init__.py │ │ └── shape_maker.py │ └── taichi_env.py ├── env_modeling │ ├── .ipynb │ ├── gather_move_solve.ipynb │ ├── lift_spread_solve_demo.ipynb │ ├── test_GatherMove.ipynb │ ├── test_LiftSpread.ipynb │ ├── test_MoveSpread.ipynb │ ├── test_open3d.py │ ├── test_rendering.ipynb │ ├── test_resetting.ipynb │ ├── test_tina_marching_cube.py │ ├── test_tina_renderer.py │ ├── test_tina_sdf.py │ └── tina_renderer.py ├── envs │ ├── __init__.py │ ├── assembly.yml │ ├── assets │ │ ├── Assembly3D-v1.npy │ │ ├── Assembly3D-v2.npy │ │ ├── Assembly3D-v3.npy │ │ ├── Assembly3D-v4.npy │ │ ├── Assembly3D-v5.npy │ │ ├── Chopsticks3D-v1.npy │ │ ├── Chopsticks3D-v2.npy │ │ ├── Chopsticks3D-v3.npy │ │ ├── Chopsticks3D-v4.npy │ │ ├── Chopsticks3D-v5.npy │ │ ├── Move3D-v1.npy │ │ ├── Move3D-v2.npy │ │ ├── Move3D-v3.npy │ │ ├── Move3D-v4.npy │ │ ├── Move3D-v5.npy │ │ ├── Pinch3D-v1.npy │ │ ├── Pinch3D-v2.npy │ │ ├── Pinch3D-v3.npy │ │ ├── Pinch3D-v4.npy │ │ ├── Pinch3D-v5.npy │ │ ├── Rollingpin3D-v1.npy │ │ ├── Rollingpin3D-v2.npy │ │ ├── Rollingpin3D-v3.npy │ │ ├── Rollingpin3D-v4.npy │ │ ├── Rollingpin3D-v5.npy │ │ ├── Rope3D-v1.npy │ │ ├── Rope3D-v2.npy │ │ ├── Rope3D-v3.npy │ │ ├── Rope3D-v4.npy │ │ ├── Rope3D-v5.npy │ │ ├── Table3D-v1.npy │ │ ├── Table3D-v2.npy │ │ ├── Table3D-v3.npy │ │ ├── Table3D-v4.npy │ │ ├── Table3D-v5.npy │ │ ├── Torus3D-v1.npy │ │ ├── Torus3D-v2.npy │ │ ├── Torus3D-v3.npy │ │ ├── Torus3D-v4.npy │ │ ├── Torus3D-v5.npy │ │ ├── TripleMove3D-v1.npy │ │ ├── TripleMove3D-v2.npy │ │ ├── TripleMove3D-v3.npy │ │ ├── TripleMove3D-v4.npy │ │ ├── TripleMove3D-v5.npy │ │ ├── Writer3D-v1.npy │ │ ├── Writer3D-v2.npy │ │ ├── Writer3D-v3.npy │ │ ├── Writer3D-v4.npy │ │ └── Writer3D-v5.npy │ ├── chopsticks.yml │ ├── cut_rearrange_spread.yml │ ├── cut_roll.yml │ ├── env.py │ ├── gather_move.yml │ ├── gather_move_single.yml │ ├── generate_target.py │ ├── lift_spread.yml │ ├── move.yml │ ├── mp_wrapper.py │ ├── multi_merge.yml │ ├── multicut.yml │ ├── multitask_env.py │ ├── pinch.yml │ ├── push_spread.yml │ ├── push_spread_target.yml │ ├── rollingpin.yml │ ├── rope.yml │ ├── single_stage │ │ ├── lift.yml │ │ └── spread.yml │ ├── spread.yml │ ├── table.yml │ ├── torus.yml │ ├── triplemove.yml │ ├── utils.py │ └── writer.yml ├── hza_mp_wrapper.py ├── optimizer │ ├── __init__.py │ ├── long_term_gradient.ipynb │ ├── optim.py │ ├── solver.py │ └── solver_nn.py └── utils │ ├── __init__.py │ ├── timer.py │ ├── utils.py │ └── visualization_utils.py ├── prepare.sh ├── scripts └── random_env.py └── taichi_three ├── LICENSE ├── README.md ├── Tina-Dev.py ├── assets ├── .gitignore ├── atms.png ├── caustics.gltf ├── cloth.jpg ├── cornell.gltf ├── cornell.mtl ├── cornell.obj ├── cube.obj ├── cylinder.obj ├── logo.obj ├── lut.jpg ├── monkey.obj ├── multimtl.mtl ├── multimtl.obj ├── normal.png ├── orient.obj ├── pattern.jpg ├── plane.obj ├── shadow.mtl ├── shadow.obj ├── skybox.jpg ├── smallptwall.png ├── sphere.gltf ├── sphere.obj ├── torus.obj └── uvsphere.obj ├── bench.py ├── conv.py ├── docs ├── connect.py ├── gltf.py ├── lighting.py ├── monkey.py ├── options.py ├── particles.py ├── pathtrace.py ├── primitives.py ├── smooth.py ├── transform.py ├── triangle.py ├── volume.py └── wireframe.py ├── examples ├── cornell_box.py ├── ibl_matball.py ├── matball.py ├── mciso_mpm3d.py ├── meshgrid_cloth.py ├── meshgrid_wave.py ├── pars_mpm3d.py └── rtx_matball.py ├── lbm.py ├── melt ├── dump.py ├── lbm.py ├── lbvh.py ├── mpm.py ├── mrt.py ├── mrtlbm.py ├── rbd.py ├── vbrbd.py └── voxelizer.py ├── mesh_renderer.ipynb ├── setup.py ├── tests ├── bdpt.py ├── blooming.py ├── brdf.py ├── cookibl.py ├── emission.py ├── fpe.py ├── fxaa.py ├── glass.py ├── inter.py ├── knn.py ├── mis.py ├── mtlid.py ├── nlm.py ├── noise.py ├── path.py ├── pick.py ├── probe.py ├── ptlight.py ├── raytrace.py ├── rtao.py ├── rtx.py ├── skybox.py ├── ssao.py ├── ssr.py ├── volume.py ├── voxl.py ├── wave.py └── wire.py ├── tina ├── __init__.py ├── __main__.py ├── advans.py ├── assimp │ ├── __init__.py │ ├── gltf.py │ ├── obj.py │ ├── pfm.py │ └── tet.py ├── cli │ ├── __init__.py │ ├── mesh.py │ ├── particles.py │ └── volume.py ├── common.py ├── core │ ├── __init__.py │ ├── engine.py │ ├── lighting.py │ ├── material.py │ ├── particle.py │ ├── particle_sdf.py │ ├── renderer.py │ ├── shader.py │ ├── triangle.py │ ├── volume.py │ └── wireframe.py ├── hacker.py ├── inject.py ├── lazimp.py ├── matr │ ├── __init__.py │ ├── material.py │ ├── nodes.py │ └── wavelen.py ├── memory.py ├── mesh │ ├── 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