├── .gitignore ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── THIRD-PARTY └── resfit ├── dexmg ├── environments │ └── dexmg.py └── setup_dexmg.sh ├── lerobot ├── configs │ └── policies.py ├── dataset │ ├── convert_robomimic_to_lerobot.py │ └── dataset_generation.sh ├── lerobot_requirements.txt ├── policies │ ├── act │ │ ├── configuration_act.py │ │ └── modeling_act.py │ ├── diffusion │ │ ├── configuration_diffusion.py │ │ └── modeling_diffusion.py │ ├── factory.py │ └── pretrained.py ├── scripts │ └── train_bc_dexmg.py ├── setup_lerobot.sh ├── shell │ ├── launch_act_can.sh │ ├── launch_act_drawercleanup.sh │ ├── launch_act_lift.sh │ ├── launch_act_pouring.sh │ ├── launch_act_pouring_noprop.sh │ ├── launch_act_square.sh │ ├── launch_act_threading.sh │ ├── launch_act_transport.sh │ ├── launch_act_traylift.sh │ ├── launch_act_twoarmcansorting.sh │ ├── launch_act_twoarmcoffee.sh │ ├── launch_act_twoarmthreading.sh │ └── launch_act_twoarmthreepieceassembly.sh └── utils │ └── load_policy.py └── rl_finetuning ├── README.md ├── config ├── performance.py ├── residual_td3.py └── rlpd.py ├── off_policy ├── common_utils │ ├── __init__.py │ ├── data_aug.py │ ├── helper.py │ └── utils.py ├── networks │ ├── encoder.py │ └── min_vit.py └── rl │ ├── __init__.py │ ├── actor.py │ ├── critic.py │ └── q_agent.py ├── scripts ├── train_residual_td3.py └── train_rlpd_dexmg.py ├── setup_rlpd_robosuite.sh ├── shell └── paper_runs │ ├── ablations │ ├── boxcleanup │ │ ├── action_noise │ │ │ ├── 9a_boxcleanup_actionnoise_1.0_1.sh │ │ │ ├── 9a_boxcleanup_actionnoise_1.0_2.sh │ │ │ ├── 9a_boxcleanup_actionnoise_1.0_3.sh │ │ │ ├── 9b_boxcleanup_actionnoise_0.1_1.sh │ │ │ ├── 9b_boxcleanup_actionnoise_0.1_2.sh │ │ │ └── 9b_boxcleanup_actionnoise_0.1_3.sh │ │ ├── actor_updates │ │ │ ├── 10a_boxcleanup_actorupdates_4_1.sh │ │ │ ├── 10a_boxcleanup_actorupdates_4_2.sh │ │ │ └── 10a_boxcleanup_actorupdates_4_3.sh │ │ ├── baseline │ │ │ ├── 1a_boxcleanup_baseline.sh │ │ │ └── 1a_boxcleanup_baseline_1.sh │ │ ├── c51 │ │ │ ├── 8a_boxcleanup_c51_1.sh │ │ │ ├── 8a_boxcleanup_c51_2.sh │ │ │ └── 8a_boxcleanup_c51_3.sh │ │ ├── critic_warmup │ │ │ ├── 8a_boxcleanup_criticwarmup_0_1.sh │ │ │ ├── 8a_boxcleanup_criticwarmup_0_2.sh │ │ │ ├── 8a_boxcleanup_criticwarmup_0_3.sh │ │ │ ├── 8b_boxcleanup_criticwarmup_25k_1.sh │ │ │ ├── 8b_boxcleanup_criticwarmup_25k_2.sh │ │ │ └── 8b_boxcleanup_criticwarmup_25k_3.sh │ │ ├── critic_warmup_0 │ │ │ ├── 8a_boxcleanup_criticwarmup_0_1.sh │ │ │ ├── 8a_boxcleanup_criticwarmup_0_2.sh │ │ │ ├── 8a_boxcleanup_criticwarmup_0_3.sh │ │ │ └── 8a_boxcleanup_criticwarmup_0_4.sh │ │ ├── critic_warmup_25k │ │ │ ├── 8b_boxcleanup_criticwarmup_25k_1.sh │ │ │ ├── 8b_boxcleanup_criticwarmup_25k_2.sh │ │ │ └── 8b_boxcleanup_criticwarmup_25k_3.sh │ │ ├── envwarmup │ │ │ ├── 5a_box_cleanup_env_0_steps_1.sh │ │ │ ├── 5a_box_cleanup_env_0_steps_2.sh │ │ │ ├── 5a_box_cleanup_env_0_steps_3.sh │ │ │ ├── 5b_box_cleanup_env_25k_steps_1.sh │ │ │ ├── 5b_box_cleanup_env_25k_steps_2.sh │ │ │ └── 5b_box_cleanup_env_25k_steps_3.sh │ │ ├── nodemos │ │ │ ├── 6a_boxcleanup_nodemos_1.sh │ │ │ ├── 6a_boxcleanup_nodemos_2.sh │ │ │ ├── 6a_boxcleanup_nodemos_3.sh │ │ │ ├── 6a_boxcleanup_nodemos_4.sh │ │ │ └── 6a_boxcleanup_nodemos_5.sh │ │ ├── nolayernorm │ │ │ ├── 7a_boxcleanup_nolayernorm_1.sh │ │ │ ├── 7a_boxcleanup_nolayernorm_2.sh │ │ │ ├── 7a_boxcleanup_nolayernorm_3.sh │ │ │ └── 7a_boxcleanup_nolayernorm_4.sh │ │ ├── nstep │ │ │ ├── 2a_boxcleanup_nstep1_1.sh │ │ │ ├── 2a_boxcleanup_nstep1_2.sh │ │ │ ├── 2a_boxcleanup_nstep1_3.sh │ │ │ ├── 2b_boxcleanup_nstep5_1.sh │ │ │ ├── 2b_boxcleanup_nstep5_2.sh │ │ │ ├── 2b_boxcleanup_nstep5_3.sh │ │ │ ├── 2c_boxcleanup_nstep7.sh │ │ │ └── 2d_boxcleanup_nstep9.sh │ │ ├── per │ │ │ └── 9a_boxcleanup_per.sh │ │ ├── redq │ │ │ ├── 4a_box_cleanup_td3_q1_1.sh │ │ │ ├── 4a_box_cleanup_td3_q1_2.sh │ │ │ └── 4a_box_cleanup_td3_q1_3.sh │ │ ├── targetactionnoise │ │ │ └── 10a_boxcleanup_targetactionnoise.sh │ │ ├── tau │ │ │ └── 1a_boxcleanup_baseline.sh │ │ └── utd │ │ │ ├── 3__boxcleanup_utd025.sh │ │ │ ├── 3__boxcleanup_utd05.sh │ │ │ ├── 3a_boxcleanup_utd1.sh │ │ │ ├── 3b_boxcleanup_utd2_1.sh │ │ │ ├── 3b_boxcleanup_utd2_2.sh │ │ │ ├── 3b_boxcleanup_utd2_3.sh │ │ │ ├── 3c_boxcleanup_utd8_1.sh │ │ │ ├── 3c_boxcleanup_utd8_2.sh │ │ │ └── 3c_boxcleanup_utd8_3.sh │ ├── can │ │ ├── nodemos │ │ │ └── 2a_can_nodemos.sh │ │ ├── noenvwarmup │ │ │ └── 5a_can_noenvwarmup.sh │ │ ├── nolayernorm │ │ │ └── 3a_can_nolayernorm.sh │ │ ├── noredq │ │ │ └── 4a_can_noredq.sh │ │ ├── nstep │ │ │ ├── 4a_can_nstep1.sh │ │ │ └── 4b_can_nstep5.sh │ │ └── targetactionnoise │ │ │ └── 10a_can_targetactionnoise.sh │ ├── coffee │ │ ├── baseline │ │ │ └── 1_coffee_baseline.sh │ │ ├── c51 │ │ │ └── 5a_coffee_c51.sh │ │ ├── nodemos │ │ │ └── 5a_coffee_nodemos.sh │ │ ├── noenvwarmup │ │ │ └── 8a_coffee_noenvwarmup.sh │ │ ├── nolayernorm │ │ │ └── 7a_coffee_nolayernorm.sh │ │ ├── noredq │ │ │ └── 11_coffee_noredq.sh │ │ ├── notargetactionnoise │ │ │ └── 4a_coffee_notargetactionnoise.sh │ │ ├── nstep │ │ │ ├── 3a_coffee_nstep1.sh │ │ │ ├── 3b_coffee_nstep3.sh │ │ │ └── 3d_coffee_nstep7.sh │ │ ├── per │ │ │ └── 6a_coffee_per.sh │ │ └── utd │ │ │ ├── 2c_coffee_utd1.sh │ │ │ ├── 2d_coffee_utd2.sh │ │ │ └── 2e_coffee_utd8.sh │ └── square │ │ ├── nodemos │ │ └── 2a_square_nodemos.sh │ │ ├── noenvwarmup │ │ └── 5a_square_noenvwarmup.sh │ │ ├── nolayernorm │ │ └── 3a_square_nolayernorm.sh │ │ ├── noredq │ │ └── 11a_square_noredq.sh │ │ ├── nstep │ │ ├── 4a_square_nstep1.sh │ │ └── 4b_square_nstep5.sh │ │ ├── per │ │ └── 7a_square_per.sh │ │ ├── targetactionnoise │ │ └── 10a_square_targetactionnoise.sh │ │ └── utd │ │ ├── 6c_square_utd1.sh │ │ ├── 6d_square_utd2.sh │ │ └── 6e_square_utd8.sh │ ├── boxcleanup │ ├── 1_box_cleanup_residual_rl.sh │ └── 2_box_cleanup_rlpd.sh │ ├── can │ └── 2_can_rlpd.sh │ ├── cansorting │ ├── 1_cansorting_residual_rl.sh │ └── 2_cansorting_rlpd.sh │ ├── coffee │ ├── 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