├── .flake8 ├── .github ├── dependabot.yml └── workflows │ └── black.yaml ├── .gitignore ├── .gitmodules ├── Arial.ttf ├── LICENSE ├── README.md ├── TRAINING_README.md ├── architecture ├── __init__.py ├── agent.py ├── allenact_preprocessors │ ├── __init__.py │ ├── dino_preprocessors.py │ └── siglip_preprocessors.py └── models │ ├── __init__.py │ ├── allenact_recurrent_models │ ├── __init__.py │ ├── dino_gru.py │ ├── inference_agent.py │ └── siglip_gru.py │ └── transformer_models │ ├── __init__.py │ ├── early_fusion_gru_models.py │ ├── early_fusion_tsfm_models.py │ ├── image_encoders.py │ ├── preprocessors.py │ └── text_cond_visual_encoder.py ├── docker ├── Dockerfile ├── README.md ├── create_image.sh ├── create_session.sh └── requirements.txt ├── environment ├── __init__.py ├── manipulation_sensors.py ├── navigation_sensors.py ├── spoc_objects.py ├── stretch_controller.py └── vision_sensors.py ├── how_to_use_data.ipynb ├── mypy.ini ├── online_evaluation ├── __init__.py ├── local_logging_utils.py ├── max_episode_configs.py ├── online_evaluation_types_and_utils.py ├── online_evaluator.py └── online_evaluator_worker.py ├── pyproject.toml ├── pytest.ini ├── requirements.txt ├── scripts ├── auto_format.sh ├── download_objaverse_houses.py ├── download_trained_ckpt.py ├── download_training_data.py └── eval_pretrained_model.sh ├── spoc-robot-training ├── __init__.py └── version.py ├── spoc_constants.py ├── tasks ├── __init__.py ├── abstract_task.py ├── abstract_task_sampler.py ├── fetch_task.py ├── multi_task_eval_sampler.py ├── object_nav_task.py ├── pickup_task.py ├── room_nav_task.py ├── room_visit_task.py └── task_specs.py ├── training ├── __init__.py ├── offline │ ├── __init__.py │ ├── chores_dataset.py │ ├── dataset_mixtures.py │ ├── online_eval.py │ ├── train_pl.py │ └── train_utils.py └── online │ ├── __init__.py │ ├── base.py │ ├── loss │ ├── __init__.py │ └── imitation_loss.py │ ├── mixins.py │ ├── reward │ ├── __init__.py │ └── reward_shaper.py │ ├── siglip_vitb_gru_rgb_augment_fetchtype.py │ ├── siglip_vitb_gru_rgb_augment_objectnav.py │ ├── siglip_vitb_gru_rgb_augment_pickuptype.py │ └── siglip_vitb_gru_rgb_augment_room_visit.py └── utils ├── __init__.py ├── bbox_utils.py ├── constants ├── __init__.py ├── objaverse_data_dirs.py ├── object_constants.py ├── stretch_initialization_utils.py └── template_verbs.py ├── data_generation_utils ├── __init__.py ├── exception_utils.py ├── loc_grid_conversion.py ├── mp4_utils.py └── navigation_utils.py ├── debug_utils.py ├── detic_utils.py ├── distance_calculation_utils.py ├── local_logging.py ├── nn_utils.py ├── objaverse_annotation.py ├── sel_utils.py ├── sensor_constant_utils.py ├── string_utils.py ├── synset_utils.py ├── task_datagen_utils.py ├── task_spec_to_instruction.py ├── task_type_mapping_utils.py ├── transformation_util.py ├── type_utils.py ├── visualization_utils.py ├── wandb_logging.py └── wandb_utils.py /.flake8: 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