├── .gitignore ├── ERROR_CATCH.md ├── Improved-3D-Diffusion-Policy ├── .gitignore ├── LICENSE ├── deploy.py ├── diffusion_policy_3d │ ├── common │ │ ├── checkpoint_util.py │ │ ├── gr1_action_util.py │ │ ├── json_logger.py │ │ ├── logger_util.py │ │ ├── model_util.py │ │ ├── multi_realsense.py │ │ ├── pytorch_util.py │ │ ├── replay_buffer.py │ │ ├── rotation_util.py │ │ └── sampler.py │ ├── config │ │ ├── dp_224x224_r3m.yaml │ │ ├── idp3.yaml │ │ └── task │ │ │ ├── gr1_dex-3d.yaml │ │ │ └── gr1_dex-image.yaml │ ├── dataset │ │ ├── __init__.py │ │ ├── base_dataset.py │ │ ├── gr1_dex_dataset_3d.py │ │ └── gr1_dex_dataset_image.py │ ├── model │ │ ├── common │ │ │ ├── dict_of_tensor_mixin.py │ │ │ ├── lr_scheduler.py │ │ │ ├── module_attr_mixin.py │ │ │ ├── normalizer.py │ │ │ ├── shape_util.py │ │ │ └── tensor_util.py │ │ ├── diffusion │ │ │ ├── conditional_unet1d.py │ │ │ ├── conv1d_components.py │ │ │ ├── ema_model.py │ │ │ ├── mask_generator.py │ │ │ └── positional_embedding.py │ │ ├── vision │ │ │ ├── crop_randomizer.py │ │ │ ├── model_getter.py │ │ │ └── timm_obs_encoder.py │ │ └── vision_3d │ │ │ ├── multi_stage_pointnet.py │ │ │ ├── point_process.py │ │ │ └── pointnet_extractor.py │ ├── policy │ │ ├── base_policy.py │ │ ├── diffusion_image_policy.py │ │ └── diffusion_pointcloud_policy.py │ └── workspace │ │ ├── base_workspace.py │ │ ├── dp_workspace.py │ │ └── idp3_workspace.py ├── setup.py ├── train.py └── vis_dataset.py ├── LICENSE ├── README.md ├── scripts ├── deploy_policy.sh ├── train_policy.sh └── vis_dataset.sh └── third_party ├── r3m ├── .gitignore ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── r3m │ ├── __init__.py │ ├── cfgs │ │ ├── config_rep.yaml │ │ └── hydra │ │ │ ├── launcher │ │ │ └── local.yaml │ │ │ └── output │ │ │ └── local.yaml │ ├── example.py │ ├── models │ │ ├── __init__.py │ │ ├── models_language.py │ │ └── models_r3m.py │ ├── r3m_base.yaml │ ├── train_representation.py │ ├── trainer.py │ └── utils │ │ ├── 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