├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── config ├── bridge_statistics.json ├── eval │ ├── bridge.yaml │ ├── fractal_apple.yaml │ ├── fractal_coke.yaml │ ├── fractal_drawer.yaml │ └── fractal_move.yaml ├── fractal_statistics.json └── train │ ├── bridge.yaml │ └── fractal.yaml ├── doc ├── convention.md ├── error.md └── notes.md ├── media ├── maniskill_pp.png └── open-pi-zero-overview.png ├── pyproject.toml ├── scripts ├── data │ ├── check_bridge.py │ ├── check_fractal.py │ └── modify_rlds_dataset.py ├── run.py ├── set_path.sh ├── tests │ ├── oxe.py │ ├── run_paligemma.py │ ├── sampling.py │ └── simpler.py └── try_checkpoint_in_simpler.py ├── slurm ├── eval_simpler_bridge.sh ├── eval_simpler_fractal.sh ├── modify_rlds.sh ├── test_training_single_gpu_no_slurm.sh ├── train_multi_gpu.sh └── train_multi_node.sh └── src ├── agent ├── dataset.py ├── env_adapter │ ├── base.py │ └── simpler.py ├── eval.py ├── model_averaging.py └── train.py ├── data ├── dataset.py ├── dataset_torch.py ├── dlimp │ ├── __init__.py │ ├── augmentations.py │ ├── dataset.py │ ├── transforms │ │ ├── __init__.py │ │ ├── common.py │ │ ├── frame_transforms.py │ │ ├── goal_relabeling.py │ │ └── traj_transforms.py │ └── utils.py ├── obs_transforms.py ├── oxe │ ├── __init__.py │ ├── oxe_dataset_configs.py │ ├── oxe_dataset_mixes.py │ ├── oxe_standardization_transforms.py │ └── preprocess │ │ ├── mod_functions.py │ │ └── multithreaded_adhoc_tfds_builder.py ├── traj_transforms.py └── utils │ ├── data_utils.py │ ├── goal_relabeling.py │ ├── task_augmentation.py │ └── text_processing.py ├── model ├── kv_cache.py ├── lora.py ├── paligemma │ ├── config.py │ ├── gemma.py │ ├── load.py │ ├── modules.py │ ├── processing.py │ └── siglip.py ├── utils.py └── vla │ ├── joint_model.py │ ├── mixture.py │ ├── modules.py │ ├── pizero.py │ └── processing.py └── utils ├── decorator.py ├── geometry.py ├── metric.py ├── monitor.py ├── optim.py └── spec.py /.gitignore: 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