├── .gitignore ├── LICENSE ├── README.md ├── asset ├── comparison.png └── framework.png ├── multitask ├── .gitignore ├── CFAP │ ├── __init__.py │ ├── autoreg.py │ └── basic_ar.py ├── MSAT │ ├── __init__.py │ ├── quant.py │ └── vqvae.py ├── README.md ├── dist.py ├── env │ ├── codecs │ │ └── imagecodecs_numcodecs.py │ ├── common │ │ ├── checkpoint_util.py │ │ ├── crop_randomizer.py │ │ ├── cv2_util.py │ │ ├── dict_of_tensor_mixin.py │ │ ├── env_util.py │ │ ├── json_logger.py │ │ ├── nested_dict_util.py │ │ ├── normalize_util.py │ │ ├── normalizer.py │ │ ├── pose_trajectory_interpolator.py │ │ ├── precise_sleep.py │ │ ├── pymunk_override.py │ │ ├── pymunk_util.py │ │ ├── pytorch_util.py │ │ ├── replay_buffer.py │ │ ├── robomimic_config_util.py │ │ ├── robomimic_util.py │ │ ├── rotation_transformer.py │ │ ├── sampler.py │ │ ├── tensor_util.py │ │ ├── timestamp_accumulator.py │ │ └── video_recorder.py │ ├── dataset │ │ ├── base_dataset.py │ │ ├── robomimic_multi_image_datatset_wrapper.py │ │ ├── robomimic_multi_lowdim_datatset_wrapper.py │ │ ├── robomimic_replay_image_dataset.py │ │ └── robomimic_replay_lowdim_dataset.py │ ├── gym_util │ │ ├── async_vector_env.py │ │ ├── multistep_wrapper.py │ │ ├── sync_vector_env.py │ │ ├── video_recording_wrapper.py │ │ └── video_wrapper.py │ ├── model │ │ ├── crop_randomizer.py │ │ └── ema_model.py │ ├── robomimic │ │ ├── robomimic_image_wrapper.py │ │ └── robomimic_lowdim_wrapper.py │ └── runner │ │ ├── base_image_runner.py │ │ ├── base_lowdim_runner.py │ │ ├── robomimic_image_runner.py │ │ └── robomimic_lowdim_runner.py ├── environment.yaml ├── eval_ar.py ├── eval_vae.py ├── optim │ ├── amp_opt.py │ └── lr_control.py ├── scripts │ ├── eval │ │ ├── eval_ar.sh │ │ └── eval_vae.sh │ ├── misc │ │ └── dataset_transform.sh │ └── train │ │ ├── train_ar.sh │ │ └── train_vae.sh ├── svqvae │ ├── __init__.py │ ├── basic_vae.py │ ├── quant.py │ └── vqvae.py ├── train_ar.py ├── train_vae.py ├── trainer_ar.py ├── trainer_vae.py └── utils │ ├── arg_util.py │ ├── data_sampler.py │ ├── helpers.py │ ├── misc.py │ ├── robomimic_dataset_conversion.py │ └── train_util.py └── singletask ├── .gitignore ├── CFAP ├── __init__.py ├── autoreg.py └── basic_ar.py ├── MSAT ├── __init__.py ├── quant.py └── vqvae.py ├── README.md ├── dist.py ├── env ├── codecs │ └── imagecodecs_numcodecs.py ├── common │ ├── checkpoint_util.py │ ├── crop_randomizer.py │ ├── cv2_util.py │ ├── dict_of_tensor_mixin.py │ ├── env_util.py │ ├── json_logger.py │ ├── nested_dict_util.py │ ├── normalize_util.py │ ├── normalizer.py │ ├── pose_trajectory_interpolator.py │ ├── precise_sleep.py │ ├── pymunk_override.py │ ├── pymunk_util.py │ ├── pytorch_util.py │ ├── replay_buffer.py │ ├── robomimic_config_util.py │ ├── robomimic_util.py │ ├── rotation_transformer.py │ ├── sampler.py │ ├── tensor_util.py │ ├── timestamp_accumulator.py │ └── video_recorder.py ├── dataset │ ├── base_dataset.py │ ├── kitchen_lowdim_dataset.py │ ├── kitchen_mjl_lowdim_dataset.py │ ├── pusht_dataset.py │ ├── robomimic_dataset_conversion.py │ ├── robomimic_replay_image_dataset.py │ └── robomimic_replay_lowdim_dataset.py ├── gym_util │ ├── async_vector_env.py │ ├── multistep_wrapper.py │ ├── sync_vector_env.py │ ├── video_recording_wrapper.py │ └── video_wrapper.py ├── kitchen │ ├── __init__.py │ ├── base.py │ ├── kitchen_lowdim_wrapper.py │ ├── kitchen_util.py │ ├── relay_policy_learning │ │ ├── adept_envs │ │ │ ├── .pylintrc │ │ │ ├── .style.yapf │ │ │ └── adept_envs │ │ │ │ ├── __init__.py │ │ │ │ ├── base_robot.py │ │ │ │ ├── franka │ │ │ │ ├── __init__.py │ │ │ │ ├── assets │ │ │ │ │ └── franka_kitchen_jntpos_act_ab.xml │ │ │ │ ├── kitchen_multitask_v0.py │ │ │ │ └── robot │ │ │ │ │ ├── franka_config.xml │ │ │ │ │ └── franka_robot.py │ │ │ │ ├── mujoco_env.py │ │ │ │ ├── robot_env.py │ │ │ │ ├── simulation │ │ │ │ ├── module.py │ │ │ │ ├── renderer.py │ │ │ │ └── sim_robot.py │ │ │ │ └── utils │ │ │ │ ├── config.py │ │ │ │ ├── configurable.py │ │ │ │ ├── constants.py │ │ │ │ ├── parse_demos.py │ │ │ │ └── quatmath.py │ │ ├── adept_models │ │ │ ├── .gitignore │ │ │ ├── CONTRIBUTING.public.md │ │ │ ├── LICENSE │ │ │ ├── README.public.md │ │ │ ├── __init__.py │ │ │ ├── kitchen │ │ │ │ ├── assets │ │ │ │ │ ├── backwall_asset.xml │ │ │ │ │ ├── backwall_chain.xml │ │ │ │ │ ├── counters_asset.xml │ │ │ │ │ ├── counters_chain.xml │ │ │ │ │ ├── hingecabinet_asset.xml │ │ │ │ │ ├── hingecabinet_chain.xml │ │ │ │ │ ├── kettle_asset.xml │ │ │ │ │ ├── kettle_chain.xml │ │ │ │ │ ├── microwave_asset.xml │ │ │ │ │ ├── microwave_chain.xml │ │ │ │ │ ├── oven_asset.xml │ │ │ │ │ ├── oven_chain.xml │ │ │ │ │ ├── slidecabinet_asset.xml │ │ │ │ │ └── slidecabinet_chain.xml │ │ │ │ ├── counters.xml │ │ │ │ ├── hingecabinet.xml │ │ │ │ ├── kettle.xml │ │ │ │ ├── kitchen.xml │ │ │ │ ├── meshes │ │ │ │ │ ├── burnerplate.stl │ │ │ │ │ ├── burnerplate_mesh.stl │ │ │ │ │ ├── cabinetbase.stl │ │ │ │ │ ├── cabinetdrawer.stl │ │ │ │ │ ├── cabinethandle.stl │ │ │ │ │ ├── countertop.stl │ │ │ │ │ ├── faucet.stl │ │ │ │ │ ├── handle2.stl │ │ │ │ │ ├── hingecabinet.stl │ │ │ │ │ ├── hingedoor.stl │ │ │ │ │ ├── hingehandle.stl │ │ │ │ │ ├── hood.stl │ │ │ │ │ ├── kettle.stl │ │ │ │ │ ├── kettlehandle.stl │ │ │ │ │ ├── knob.stl │ │ │ │ │ ├── lightswitch.stl │ │ │ │ │ ├── lightswitchbase.stl │ │ │ │ │ ├── micro.stl │ │ │ │ │ ├── microbutton.stl │ │ │ │ │ ├── microdoor.stl │ │ │ │ │ ├── microefeet.stl │ │ │ │ │ ├── microfeet.stl │ │ │ │ │ ├── microhandle.stl │ │ │ │ │ ├── microwindow.stl │ │ │ │ │ ├── oven.stl │ │ │ │ │ ├── ovenhandle.stl │ │ │ │ │ ├── oventop.stl │ │ │ │ │ ├── ovenwindow.stl │ │ │ │ │ ├── slidecabinet.stl │ │ │ │ │ ├── slidedoor.stl │ │ │ │ │ ├── stoverim.stl │ │ │ │ │ ├── tile.stl │ │ │ │ │ └── wall.stl │ │ │ │ ├── microwave.xml │ │ │ │ ├── oven.xml │ │ │ │ ├── slidecabinet.xml │ │ │ │ └── textures │ │ │ │ │ ├── marble1.png │ │ │ │ │ ├── metal1.png │ │ │ │ │ ├── tile1.png │ │ │ │ │ └── wood1.png │ │ │ └── scenes │ │ │ │ ├── basic_scene.xml │ │ │ │ └── textures │ │ │ │ ├── white_marble_tile.png │ │ │ │ └── white_marble_tile2.png │ │ └── third_party │ │ │ └── franka │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── assets │ │ │ ├── actuator0.xml │ │ │ ├── actuator1.xml │ │ │ ├── assets.xml │ │ │ ├── basic_scene.xml │ │ │ ├── chain0.xml │ │ │ ├── chain0_overlay.xml │ │ │ ├── chain1.xml │ │ │ └── teleop_actuator.xml │ │ │ ├── bi-franka_panda.xml │ │ │ ├── franka_panda.png │ │ │ ├── franka_panda.xml │ │ │ ├── franka_panda_teleop.xml │ │ │ └── meshes │ │ │ ├── collision │ │ │ ├── finger.stl │ │ │ ├── hand.stl │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link7.stl │ │ │ └── visual │ │ │ ├── finger.stl │ │ │ ├── hand.stl │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link7.stl │ └── v0.py ├── model │ ├── crop_randomizer.py │ └── ema_model.py ├── pusht │ ├── __init__.py │ ├── pusht_env.py │ ├── pusht_image_env.py │ ├── pusht_keypoints_env.py │ ├── pymunk_keypoint_manager.py │ └── pymunk_override.py ├── robomimic │ ├── robomimic_image_wrapper.py │ └── robomimic_lowdim_wrapper.py └── runner │ ├── base_image_runner.py │ ├── base_lowdim_runner.py │ ├── kitchen_lowdim_runner.py │ ├── pusht_keypoints_fixed_ini_runner.py │ ├── pusht_keypoints_runner.py │ ├── robomimic_image_runner.py │ └── robomimic_lowdim_runner.py ├── environment.yaml ├── eval_ar.py ├── eval_vae.py ├── optim ├── amp_opt.py └── lr_control.py ├── scripts ├── eval │ ├── eval_ar.sh │ └── eval_vae.sh └── train │ ├── train_ar.sh │ └── train_vae.sh ├── svqvae ├── __init__.py ├── basic_vae.py ├── quant.py └── vqvae.py ├── train_ar.py ├── train_vae.py ├── trainer_ar.py ├── trainer_vae.py └── utils ├── arg_util.py ├── data_sampler.py ├── helpers.py ├── misc.py └── train_util.py /.gitignore: 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