├── .gitignore ├── .gitmodules ├── LICENSE ├── Makefile ├── README.md ├── install.sh ├── models └── .gitkeep ├── notebooks ├── .gitkeep ├── 00_master_figures.ipynb ├── 01_la_eval_bc_state.ipynb ├── 02_la_behavioral_cloning_state.ipynb ├── 03_la_bc_features.ipynb ├── 04_la_process_demos.ipynb ├── 05_la_real_rollout_in_sim.ipynb ├── 06_analyze_vip_features.ipynb ├── 06_la_dino.ipynb ├── 07_as_test_multiple_envs_show_mc.ipynb ├── 07_la_test_multiple_envs.ipynb ├── 08_la_debug_rollout_imgs.ipynb ├── 09_la_test_schedulers.ipynb ├── 10_la_investigate_encoder_features.ipynb ├── 11_la_env_reset_issue.ipynb ├── 11_la_env_reset_issue.py ├── 12_la_calc_raw_data_stats.ipynb ├── 13_la_image_augmentation.ipynb ├── 14_la_render_video.ipynb ├── 15_la_compress_zarr_img.ipynb ├── 16_la_test_encoders.ipynb ├── 18_la_augment_demos_with_rollouts.ipynb ├── 19_la_inspect_demos.ipynb ├── 20_la_inspect_image_vs_feature_dataset.ipynb ├── 21_la_Q_function_training.ipynb ├── 22_la_teleop_demos.ipynb ├── 23_la_quat_to_6D_rotation.ipynb ├── 24_la_tune_teleop.ipynb ├── 25_la_debug_new_controller.ipynb ├── 26_la_analyze_actions.ipynb ├── 27_la_debug_gym_crashing.ipynb ├── 28_la_action_variance.ipynb ├── 29_la_traj_augment.ipynb └── 30_la_rollout_augment.ipynb ├── references └── .gitkeep ├── reports ├── .gitkeep ├── data │ └── data_scaling.csv └── figures │ ├── .gitkeep │ ├── augmentation_grid_1.png │ ├── augmentation_grid_2.png │ ├── augmentation_grid_3.png │ ├── bootstrap_success.pdf │ ├── success_rate_scaling.pdf │ ├── teleop_augmentation.pdf │ └── teleop_augmentation.png ├── requirements.txt ├── scripts ├── eval_everything.sh ├── eval_multitask.sh └── remove_april_mtl.sh ├── setup.py ├── slurm ├── cannon │ ├── bootstrap │ │ ├── o_boot_10_40_aug_100.sh │ │ ├── o_boot_10_40_aug_50.sh │ │ ├── o_boot_10_40_noaug.sh │ │ ├── o_boot_10_90_aug.sh │ │ └── o_boot_10_90_noaug.sh │ ├── curriculum │ │ ├── 0_curr_scr.sh │ │ ├── 1_curr_ft.sh │ │ ├── 1_curr_scr.sh │ │ ├── 2_curr_ft.sh │ │ ├── 2_curr_scr_partial.sh │ │ ├── 2_curr_scr_succ.sh │ │ ├── 3_curr_ft_partial_aug.sh │ │ ├── 3_curr_ft_partial_noaug.sh │ │ ├── 3_curr_ft_succ_aug.sh │ │ ├── 3_curr_ft_succ_noaug.sh │ │ ├── 4_curr_ft_partial_aug.sh │ │ └── 4_curr_ft_partial_noaug.sh │ ├── data_scaling │ │ ├── launch_all.sh │ │ ├── o_s_10.sh │ │ ├── o_s_100.sh │ │ ├── o_s_1000.sh │ │ ├── o_s_20.sh │ │ ├── o_s_200.sh │ │ ├── o_s_30.sh │ │ ├── o_s_300.sh │ │ ├── o_s_40.sh │ │ ├── o_s_50.sh │ │ └── o_s_500.sh │ ├── lamp │ │ ├── l_ta_100.sh │ │ ├── l_ta_200.sh │ │ ├── l_ta_300.sh │ │ ├── l_taci_200.sh │ │ ├── l_taci_400.sh │ │ ├── lamp_bl.sh │ │ ├── lamp_bl_hor3.sh │ │ ├── lamp_bl_r3m.sh │ │ ├── lamp_cherry.sh │ │ ├── lamp_ci.sh │ │ └── lamp_taci_o3.sh │ ├── mlp │ │ ├── l_mlp_ch.sh │ │ ├── l_mlp_single.sh │ │ ├── o_mlp_ch.sh │ │ ├── o_mlp_single.sh │ │ ├── r_mlp_ch.sh │ │ ├── r_mlp_single.sh │ │ ├── s_mlp_ch.sh │ │ └── s_mlp_single.sh │ ├── multitask │ │ ├── mt_ev_tra.sh │ │ ├── mt_ev_unet.sh │ │ ├── mt_ev_unet_2tasks.sh │ │ ├── mt_ev_unet_big.sh │ │ └── multitask_budget.sh │ ├── one_leg │ │ ├── o_ci.sh │ │ ├── o_ci_r3m.sh │ │ ├── o_ta_100.sh │ │ ├── o_ta_200.sh │ │ ├── o_ta_50.sh │ │ ├── o_taci_100.sh │ │ ├── o_taci_200.sh │ │ ├── o_taci_200_r3m.sh │ │ ├── one_bl.sh │ │ ├── one_cher.sh │ │ └── ta_sweep │ │ │ ├── one_ta_100_np.sh │ │ │ ├── one_ta_100_p.sh │ │ │ ├── one_ta_150_np.sh │ │ │ ├── one_ta_150_p.sh │ │ │ ├── one_ta_200_np.sh │ │ │ ├── one_ta_200_p.sh │ │ │ ├── one_ta_250_np.sh │ │ │ ├── one_ta_250_p.sh │ │ │ ├── one_ta_50_np.sh │ │ │ ├── one_ta_50_p.sh │ │ │ └── start_all.sh │ ├── round_table │ │ ├── r_cherry.sh │ │ ├── r_ta_100.sh │ │ ├── r_ta_200.sh │ │ ├── r_taci_200.sh │ │ ├── r_taci_400.sh │ │ ├── rd_bl.sh │ │ ├── rd_bl_r3m.sh │ │ ├── round_ci.sh │ │ └── round_ta.sh │ ├── square_table │ │ ├── sq_bl.sh │ │ ├── sq_bl_r3m.sh │ │ ├── sq_cher.sh │ │ ├── sq_ci.sh │ │ ├── sq_ta_200.sh │ │ ├── sq_ta_400.sh │ │ ├── sq_taci_400.sh │ │ └── sq_taci_800.sh │ ├── sweeps │ │ └── one_ta_sw_1.sh │ └── vision_encoder │ │ ├── o_rn_imagenet.sh │ │ ├── o_rn_r3m.sh │ │ ├── o_rn_r3m_34.sh │ │ ├── o_rn_r3m_50.sh │ │ ├── o_rn_scratch.sh │ │ ├── o_rn_spatial_sm.sh │ │ ├── o_rn_vip.sh │ │ ├── o_vit_dino.sh │ │ └── o_vit_mae.sh ├── improbable │ ├── lamp │ │ ├── lamp_bl.sh │ │ ├── lamp_bl_hor3.sh │ │ ├── lamp_cherry_2080.sh │ │ ├── lamp_cherry_3090.sh │ │ ├── lamp_ci.sh │ │ ├── lamp_ta.sh │ │ └── lamp_taci.sh │ ├── mlp │ │ ├── mlp_chunk_a6000.sh │ │ └── mlp_single_a6000.sh │ ├── one_leg │ │ ├── one_bl_npt_2080.sh │ │ ├── one_bl_npt_3090.sh │ │ ├── one_bootstrap.sh │ │ ├── one_ci_2080.sh │ │ ├── one_ci_3090.sh │ │ ├── one_ci_a6000.sh │ │ ├── one_ci_v100.sh │ │ └── one_taci_a6000.sh │ ├── round_table │ │ ├── 3_curr_ft_partial_aug.sh │ │ ├── 3_curr_ft_partial_noaug.sh │ │ ├── round_bl_3090.sh │ │ ├── round_bl_a6000.sh │ │ ├── round_ci.sh │ │ ├── round_ta_3090.sh │ │ └── round_taci.sh │ └── square_table │ │ ├── sq_bl_a6000.sh │ │ ├── sq_cher.sh │ │ ├── sq_ci.sh │ │ ├── sq_ta_3090.sh │ │ ├── sq_ta_a6000.sh │ │ └── sq_taci.sh └── supercloud │ ├── lamp │ └── lamp_cherry.sh │ ├── mlp │ ├── mlp_chunk.sh │ └── mlp_single.sh │ ├── one_leg │ ├── data_scaling │ │ ├── launch_all.sh │ │ ├── o_s_10.sh │ │ ├── o_s_100.sh │ │ ├── o_s_20.sh │ │ ├── o_s_200.sh │ │ ├── o_s_30.sh │ │ ├── o_s_300.sh │ │ ├── o_s_40.sh │ │ └── o_s_50.sh │ ├── one_cherry.sh │ ├── one_ci.sh │ └── ta_sweep │ │ ├── one_ta_100_np.sh │ │ ├── one_ta_100_p.sh │ │ ├── one_ta_150_np.sh │ │ ├── one_ta_150_p.sh │ │ ├── one_ta_200_np.sh │ │ ├── one_ta_200_p.sh │ │ ├── one_ta_250_np.sh │ │ ├── one_ta_250_p.sh │ │ ├── one_ta_50_np.sh │ │ ├── one_ta_50_p.sh │ │ └── start_all.sh │ └── square_table │ └── square_cherry.sh ├── src ├── __init__.py ├── assets │ ├── __init__.py │ ├── calibration │ │ ├── __init__.py │ │ ├── cabinet.png │ │ ├── calibration.png │ │ ├── chair.png │ │ ├── desk.png │ │ ├── drawer.png │ │ ├── lamp.png │ │ ├── obstacle.png │ │ ├── one_leg.png │ │ ├── round_table.png │ │ ├── setup_front.png │ │ ├── square_table.png │ │ └── stool.png │ ├── franka_description_ros │ │ ├── __init__.py │ │ └── franka_description │ │ │ ├── CMakeLists.txt │ │ │ ├── __init__.py │ │ │ ├── mainpage.dox │ │ │ ├── meshes │ │ │ ├── __init__.py │ │ │ ├── collision │ │ │ │ ├── __init__.py │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ │ └── visual │ │ │ │ ├── __init__.py │ │ │ │ ├── finger.dae │ │ │ │ ├── hand.dae │ │ │ │ ├── link0.dae │ │ │ │ ├── link1.dae │ │ │ │ ├── link2.dae │ │ │ │ ├── link3.dae │ │ │ │ ├── link4.dae │ │ │ │ ├── link5.dae │ │ │ │ ├── link6.dae │ │ │ │ └── link7.dae │ │ │ ├── package.xml │ │ │ ├── robots │ │ │ ├── __init__.py │ │ │ ├── common │ │ │ │ ├── __init__.py │ │ │ │ ├── franka_arm.xacro │ │ │ │ ├── franka_hand.xacro │ │ │ │ ├── franka_robot.xacro │ │ │ │ ├── hand.urdf.xacro │ │ │ │ ├── inertial.yaml │ │ │ │ └── utils.xacro │ │ │ ├── dual_panda │ │ │ │ ├── __init__.py │ │ │ │ └── dual_panda_example.urdf.xacro │ │ │ ├── fr3 │ │ │ │ ├── __init__.py │ │ │ │ ├── fr3.urdf.xacro │ │ │ │ └── joint_limits.yaml │ │ │ ├── franka_panda.urdf │ │ │ └── panda │ │ │ │ ├── __init__.py │ │ │ │ ├── franka_arm.urdf │ │ │ │ ├── joint_limits.yaml │ │ │ │ └── panda.urdf.xacro │ │ │ ├── rosdoc.yaml │ │ │ └── test │ │ │ ├── __init__.py │ │ │ ├── dual_panda_example_urdf.py │ │ │ ├── franka_robot_urdf.py │ │ │ ├── hand_urdf.py │ │ │ └── urdf_test_case.py │ └── furniture │ │ ├── __init__.py │ │ ├── mesh │ │ ├── __init__,py │ │ ├── apriltag │ │ │ ├── __init__,py │ │ │ ├── tag36_11_00000.png │ │ │ ├── tag36_11_00001.png │ │ │ ├── tag36_11_00002.png │ │ │ ├── tag36_11_00003.png │ │ │ ├── tag36_11_00004.png │ │ │ ├── tag36_11_00005.png │ │ │ ├── tag36_11_00006.png │ │ │ ├── tag36_11_00007.png │ │ │ ├── tag36_11_00008.png │ │ │ ├── tag36_11_00009.png │ │ │ ├── tag36_11_00010.png │ │ │ ├── tag36_11_00011.png │ │ │ ├── tag36_11_00012.png │ │ │ ├── tag36_11_00013.png │ │ │ ├── tag36_11_00014.png │ │ │ ├── tag36_11_00015.png │ │ │ ├── tag36_11_00016.png │ │ │ ├── tag36_11_00017.png │ │ │ ├── tag36_11_00018.png │ │ │ ├── tag36_11_00019.png │ │ │ ├── tag36_11_00020.png │ │ │ ├── tag36_11_00021.png │ │ │ ├── tag36_11_00022.png │ │ │ ├── tag36_11_00023.png │ │ │ ├── tag36_11_00024.png │ │ │ ├── tag36_11_00025.png │ │ │ ├── tag36_11_00026.png │ │ │ ├── tag36_11_00027.png │ │ │ ├── tag36_11_00028.png │ │ │ ├── tag36_11_00029.png │ │ │ ├── tag36_11_00030.png │ │ │ ├── tag36_11_00031.png │ │ │ ├── tag36_11_00032.png │ │ │ ├── tag36_11_00033.png │ │ │ ├── tag36_11_00034.png │ │ │ ├── tag36_11_00035.png │ │ │ ├── tag36_11_00036.png │ │ │ ├── tag36_11_00037.png │ │ │ ├── tag36_11_00038.png │ │ │ ├── tag36_11_00039.png │ │ │ ├── tag36_11_00040.png │ │ │ ├── tag36_11_00041.png │ │ │ ├── tag36_11_00042.png │ │ │ ├── tag36_11_00043.png │ │ │ ├── tag36_11_00044.png │ │ │ ├── tag36_11_00045.png │ │ │ ├── tag36_11_00046.png │ │ │ ├── tag36_11_00047.png │ │ │ ├── tag36_11_00048.png │ │ │ ├── tag36_11_00049.png │ │ │ ├── tag36_11_00050.png │ │ │ ├── tag36_11_00051.png │ │ │ ├── tag36_11_00052.png │ │ │ ├── tag36_11_00053.png │ │ │ ├── tag36_11_00054.png │ │ │ ├── tag36_11_00055.png │ │ │ ├── tag36_11_00056.png │ │ │ ├── tag36_11_00057.png │ │ │ ├── tag36_11_00058.png │ │ │ ├── tag36_11_00059.png │ │ │ ├── tag36_11_00060.png │ │ │ ├── tag36_11_00061.png │ │ │ ├── tag36_11_00062.png │ │ │ ├── tag36_11_00063.png │ │ │ ├── tag36_11_00064.png │ │ │ ├── tag36_11_00065.png │ │ │ ├── tag36_11_00066.png │ │ │ ├── tag36_11_00067.png │ │ │ ├── tag36_11_00068.png │ │ │ ├── tag36_11_00069.png │ │ │ ├── tag36_11_00070.png │ │ │ ├── tag36_11_00071.png │ │ │ ├── tag36_11_00072.png │ │ │ ├── tag36_11_00073.png │ │ │ ├── tag36_11_00074.png │ │ │ ├── tag36_11_00075.png │ │ │ ├── tag36_11_00076.png │ │ │ ├── tag36_11_00077.png │ │ │ ├── tag36_11_00078.png │ │ │ ├── tag36_11_00079.png │ │ │ ├── tag36_11_00080.png │ │ │ ├── tag36_11_00081.png │ │ │ ├── tag36_11_00082.png │ │ │ ├── tag36_11_00083.png │ │ │ ├── tag36_11_00084.png │ │ │ ├── tag36_11_00085.png │ │ │ ├── tag36_11_00086.png │ │ │ ├── tag36_11_00087.png │ │ │ ├── tag36_11_00088.png │ │ │ ├── tag36_11_00089.png │ │ │ ├── tag36_11_00090.png │ │ │ ├── tag36_11_00091.png │ │ │ ├── tag36_11_00092.png │ │ │ ├── tag36_11_00093.png │ │ │ ├── tag36_11_00094.png │ │ │ ├── tag36_11_00095.png │ │ │ ├── tag36_11_00096.png │ │ │ ├── tag36_11_00097.png │ │ │ ├── tag36_11_00098.png │ │ │ ├── tag36_11_00099.png │ │ │ ├── tag36_11_00100.png │ │ │ ├── tag36_11_00101.png │ │ │ ├── tag36_11_00102.png │ │ │ ├── tag36_11_00103.png │ │ │ ├── tag36_11_00104.png │ │ │ ├── tag36_11_00105.png │ │ │ ├── tag36_11_00106.png │ │ │ ├── tag36_11_00107.png │ │ │ ├── tag36_11_00108.png │ │ │ ├── tag36_11_00109.png │ │ │ ├── tag36_11_00110.png │ │ │ ├── tag36_11_00111.png │ │ │ ├── tag36_11_00112.png │ │ │ ├── tag36_11_00113.png │ │ │ ├── tag36_11_00114.png │ │ │ ├── tag36_11_00115.png │ │ │ ├── tag36_11_00116.png │ │ │ ├── tag36_11_00117.png │ │ │ ├── tag36_11_00118.png │ │ │ ├── tag36_11_00119.png │ │ │ ├── tag36_11_00120.png │ │ │ ├── tag36_11_00121.png │ │ │ ├── tag36_11_00122.png │ │ │ ├── tag36_11_00123.png │ │ │ ├── tag36_11_00124.png │ │ │ ├── tag36_11_00125.png │ │ │ ├── tag36_11_00126.png │ │ │ ├── tag36_11_00127.png │ │ │ ├── tag36_11_00128.png │ │ │ ├── tag36_11_00129.png │ │ │ ├── tag36_11_00130.png │ │ │ ├── tag36_11_00131.png │ │ │ ├── tag36_11_00132.png │ │ │ ├── tag36_11_00133.png │ │ │ ├── tag36_11_00134.png │ │ │ ├── tag36_11_00135.png │ │ │ ├── tag36_11_00136.png │ │ │ ├── tag36_11_00137.png │ │ │ ├── tag36_11_00138.png │ │ │ ├── tag36_11_00139.png │ │ │ ├── tag36_11_00140.png │ │ │ ├── tag36_11_00141.png │ │ │ ├── tag36_11_00142.png │ │ │ ├── tag36_11_00143.png │ │ │ ├── tag36_11_00144.png │ │ │ ├── tag36_11_00145.png │ │ │ ├── tag36_11_00146.png │ │ │ ├── tag36_11_00147.png │ │ │ ├── tag36_11_00148.png │ │ │ ├── tag36_11_00149.png │ │ │ ├── tag36_11_00150.png │ │ │ ├── tag36_11_00151.png │ │ │ ├── tag36_11_00152.png │ │ │ ├── tag36_11_00153.png │ │ │ ├── tag36_11_00154.png │ │ │ ├── tag36_11_00155.png │ │ │ ├── tag36_11_00156.png │ │ │ ├── tag36_11_00157.png │ │ │ ├── tag36_11_00158.png │ │ │ ├── tag36_11_00159.png │ │ │ ├── tag36_11_00160.png │ │ │ ├── tag36_11_00161.png │ │ │ ├── tag36_11_00162.png │ │ │ ├── tag36_11_00163.png │ │ │ ├── tag36_11_00164.png │ │ │ ├── tag36_11_00165.png │ │ │ ├── tag36_11_00166.png │ │ │ ├── tag36_11_00167.png │ │ │ ├── tag36_11_00168.png │ │ │ ├── tag36_11_00169.png │ │ │ ├── tag36_11_00170.png │ │ │ ├── tag36_11_00171.png │ │ │ ├── tag36_11_00172.png │ │ │ ├── tag36_11_00173.png │ │ │ ├── tag36_11_00174.png │ │ │ ├── tag36_11_00175.png │ │ │ ├── tag36_11_00176.png │ │ │ └── tag36_11_00177.png │ │ ├── background.mtl │ │ ├── background.obj │ │ ├── background.usd │ │ ├── base_tag.mtl │ │ ├── base_tag.obj │ │ ├── base_tag.usd │ │ ├── cabinet │ │ │ ├── __init__,py │ │ │ ├── cabinet_body.mtl │ │ │ ├── cabinet_body.obj │ │ │ ├── cabinet_door_left.mtl │ │ │ ├── cabinet_door_left.obj │ │ │ ├── cabinet_door_right.mtl │ │ │ ├── cabinet_door_right.obj │ │ │ ├── cabinet_top.mtl │ │ │ └── cabinet_top.obj │ │ ├── chair │ │ │ ├── __init__,py │ │ │ ├── chair_back.mtl │ │ │ ├── chair_back.obj │ │ │ ├── chair_leg1.mtl │ │ │ ├── chair_leg1.obj │ │ │ ├── chair_leg2.mtl │ │ │ ├── chair_leg2.obj │ │ │ ├── chair_nut1.mtl │ │ │ ├── chair_nut1.obj │ │ │ ├── chair_nut1_prev.mtl │ │ │ ├── chair_nut1_prev.obj │ │ │ ├── chair_nut2.mtl │ │ │ ├── chair_nut2.obj │ │ │ ├── chair_seat.mtl │ │ │ └── chair_seat.obj │ │ ├── desk │ │ │ ├── __init__,py │ │ │ ├── desk_leg1.mtl │ │ │ ├── desk_leg1.obj │ │ │ ├── desk_leg2.mtl │ │ │ ├── desk_leg2.obj │ │ │ ├── desk_leg3.mtl │ │ │ ├── desk_leg3.obj │ │ │ ├── desk_leg4.mtl │ │ │ ├── desk_leg4.obj │ │ │ ├── desk_top.mtl │ │ │ └── desk_top.obj │ │ ├── drawer │ │ │ ├── __init__,py │ │ │ ├── drawer_box.mtl │ │ │ ├── drawer_box.obj │ │ │ ├── drawer_container_bottom.mtl │ │ │ ├── drawer_container_bottom.obj │ │ │ ├── drawer_container_top.mtl │ │ │ └── drawer_container_top.obj │ │ ├── lamp │ │ │ ├── __init__,py │ │ │ ├── lamp_base.mtl │ │ │ ├── lamp_base.obj │ │ │ ├── lamp_bulb.mtl │ │ │ ├── lamp_bulb.obj │ │ │ ├── lamp_hood.mtl │ │ │ └── lamp_hood.obj │ │ ├── obstacle_front.mtl │ │ ├── obstacle_front.obj │ │ ├── obstacle_front.usd │ │ ├── obstacle_side.mtl │ │ ├── obstacle_side.obj │ │ ├── obstacle_side.usd │ │ ├── round_table │ │ │ ├── __init__,py │ │ │ ├── round_table_base.mtl │ │ │ ├── round_table_base.obj │ │ │ ├── round_table_leg.mtl │ │ │ ├── round_table_leg.obj │ │ │ ├── round_table_top.mtl │ │ │ └── round_table_top.obj │ │ ├── square_table │ │ │ ├── __init__,py │ │ │ ├── square_table_leg.mtl │ │ │ ├── square_table_leg.obj │ │ │ ├── square_table_leg1.mtl │ │ │ ├── square_table_leg1.obj │ │ │ ├── square_table_leg1.usd │ │ │ ├── square_table_leg2.mtl │ │ │ ├── square_table_leg2.obj │ │ │ ├── square_table_leg2.usd │ │ │ ├── square_table_leg3.mtl │ │ │ ├── square_table_leg3.obj │ │ │ ├── square_table_leg3.usd │ │ │ ├── square_table_leg4.mtl │ │ │ ├── square_table_leg4.obj │ │ │ ├── square_table_leg4.usd │ │ │ ├── square_table_top.mtl │ │ │ ├── square_table_top.obj │ │ │ ├── square_table_top.usd │ │ │ └── textures │ │ │ │ ├── tag36_11_00004.png │ │ │ │ ├── tag36_11_00005.png │ │ │ │ ├── tag36_11_00006.png │ │ │ │ ├── tag36_11_00007.png │ │ │ │ ├── tag36_11_00008.png │ │ │ │ ├── tag36_11_00009.png │ │ │ │ ├── tag36_11_00010.png │ │ │ │ ├── tag36_11_00011.png │ │ │ │ ├── tag36_11_00012.png │ │ │ │ ├── tag36_11_00013.png │ │ │ │ ├── tag36_11_00014.png │ │ │ │ ├── tag36_11_00015.png │ │ │ │ ├── tag36_11_00016.png │ │ │ │ ├── tag36_11_00017.png │ │ │ │ ├── tag36_11_00018.png │ │ │ │ ├── tag36_11_00019.png │ │ │ │ ├── tag36_11_00020.png │ │ │ │ ├── tag36_11_00021.png │ │ │ │ ├── tag36_11_00022.png │ │ │ │ └── tag36_11_00023.png │ │ ├── stool │ │ │ ├── __init__,py │ │ │ ├── stool_leg1.mtl │ │ │ ├── stool_leg1.obj │ │ │ ├── stool_leg2.mtl │ │ │ ├── stool_leg2.obj │ │ │ ├── stool_leg3.mtl │ │ │ ├── stool_leg3.obj │ │ │ ├── stool_seat.mtl │ │ │ └── stool_seat.obj │ │ ├── table.mtl │ │ ├── table.obj │ │ ├── table.usd │ │ └── textures │ │ │ ├── __init__,py │ │ │ ├── silk9.jpg │ │ │ └── table_top_black2.jpeg │ │ └── urdf │ │ ├── background.urdf │ │ ├── base_tag.urdf │ │ ├── cabinet │ │ ├── cabinet_body.urdf │ │ ├── cabinet_door_left.urdf │ │ ├── cabinet_door_right.urdf │ │ └── cabinet_top.urdf │ │ ├── chair │ │ ├── chair_back.urdf │ │ ├── chair_leg1.urdf │ │ ├── chair_leg2.urdf │ │ ├── chair_nut1.urdf │ │ ├── chair_nut2.urdf │ │ └── chair_seat.urdf │ │ ├── desk │ │ ├── desk_leg1.urdf │ │ ├── desk_leg2.urdf │ │ ├── desk_leg3.urdf │ │ ├── desk_leg4.urdf │ │ └── desk_top.urdf │ │ ├── drawer │ │ ├── drawer_box.urdf │ │ ├── drawer_container_bottom.urdf │ │ └── drawer_container_top.urdf │ │ ├── lamp │ │ ├── lamp_base.urdf │ │ ├── lamp_bulb.urdf │ │ └── lamp_hood.urdf │ │ ├── obstacle1.urdf │ │ ├── obstacle2.urdf │ │ ├── obstacle3.urdf │ │ ├── obstacle_front.urdf │ │ ├── obstacle_side.urdf │ │ ├── round_table │ │ ├── round_table_base.urdf │ │ ├── round_table_leg.urdf │ │ └── round_table_top.urdf │ │ ├── square_table │ │ ├── square_table_leg1.urdf │ │ ├── square_table_leg2.urdf │ │ ├── square_table_leg3.urdf │ │ ├── square_table_leg4.urdf │ │ └── square_table_top.urdf │ │ ├── square_table_leg.urdf │ │ ├── square_table_top.urdf │ │ ├── stool │ │ ├── stool_leg1.urdf │ │ ├── stool_leg2.urdf │ │ ├── stool_leg3.urdf │ │ └── stool_seat.urdf │ │ └── table.urdf ├── baseline │ └── robomimic_config_util.py ├── behavior │ ├── __init__.py │ ├── base.py │ ├── diffusion.py │ ├── idql.py │ ├── mlp.py │ └── rnn.py ├── codecs │ └── imagecodecs.py ├── common │ ├── context.py │ ├── control.py │ ├── earlystop.py │ ├── files.py │ ├── geometry.py │ ├── pytorch_util.py │ ├── tasks.py │ ├── types.py │ └── vision.py ├── config │ ├── actor │ │ ├── act.yaml │ │ ├── diffusion.yaml │ │ ├── diffusion_model │ │ │ ├── transformer.yaml │ │ │ ├── transformer_big.yaml │ │ │ ├── unet.yaml │ │ │ └── unet_big.yaml │ │ ├── guided_diffusion.yaml │ │ ├── mlp.yaml │ │ └── rnn.yaml │ ├── base.yaml │ ├── data.yaml │ ├── early_stopper.yaml │ ├── experiment │ │ ├── feature_training.yaml │ │ ├── finetune_image.yaml │ │ ├── image_baseline.yaml │ │ ├── image_bootstrap.yaml │ │ ├── image_cherry_noise.yaml │ │ ├── image_collect_infer.yaml │ │ ├── image_curriculum_1.yaml │ │ ├── image_curriculum_2.yaml │ │ ├── image_curriculum_3.yaml │ │ ├── image_mlp_10m.yaml │ │ ├── image_multitask.yaml │ │ ├── image_multitask_everything.yaml │ │ ├── image_multitask_trans.yaml │ │ ├── image_multitask_unet_big.yaml │ │ ├── image_success_guided.yaml │ │ ├── image_sweep_2.yaml │ │ ├── image_training.yaml │ │ ├── image_traj_aug.yaml │ │ ├── image_traj_aug_infer_ep_limit.yaml │ │ └── image_vit.yaml │ ├── multitask │ │ ├── default.yaml │ │ └── multitask.yaml │ ├── regularization.yaml │ ├── rollout │ │ ├── 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