├── .gitignore ├── .pre-commit-config.yaml ├── README.md ├── configs ├── bc_pick.yml ├── dp_pick.yml ├── evaluate.yml ├── ppo_pick.yml └── sac_pick.yml ├── docker ├── Dockerfile ├── nvidia_icd.json └── nvidia_layers.json ├── docs ├── index.html └── static │ ├── css │ ├── bulma-carousel.min.css │ ├── bulma-slider.min.css │ ├── bulma.css.map.txt │ ├── bulma.min.css │ ├── fontawesome.all.min.css │ └── index.css │ ├── font │ ├── Geist-Regular.woff │ └── PPSupplySans-Regular.woff │ ├── images │ ├── footer-bg.webp │ ├── ms_hab2.0_interact_benchmark.png │ ├── mshab_banner.png │ ├── mshab_banner_fullsize.jpg │ ├── mshab_progressive_completion_rates.jpg │ ├── mshab_twitter_banner.png │ └── mshab_twitter_card.png │ ├── js │ ├── bulma-carousel.js │ ├── bulma-carousel.min.js │ ├── bulma-slider.js │ ├── bulma-slider.min.js │ ├── fontawesome.all.min.js │ └── index.js │ ├── svg │ ├── Favicon.svg │ ├── HillbotLogo.svg │ ├── Icon-arxiv.svg │ ├── Icon-ckpt.svg │ ├── Icon-code.svg │ ├── Icon-data.svg │ ├── Icon-paper.svg │ ├── LinkedInWhite.svg │ ├── Logo.svg │ ├── StateDefault.svg │ └── XWhite.svg │ └── videos │ ├── mshab_renders.mp4 │ ├── mshab_rollouts.mp4 │ └── mshab_zoom_outs.mp4 ├── mshab ├── agents │ ├── bc │ │ ├── __init__.py │ │ └── agent.py │ ├── dp │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── conditional_unet1d.py │ │ ├── evaluate.py │ │ ├── make_env.py │ │ ├── plain_conv.py │ │ └── utils.py │ ├── ppo │ │ ├── __init__.py │ │ ├── agent.py │ │ └── memory.py │ └── sac │ │ ├── __init__.py │ │ ├── agent.py │ │ ├── misc.py │ │ ├── modules.py │ │ └── replay.py ├── envs │ ├── __init__.py │ ├── close.py │ ├── make.py │ ├── navigate.py │ ├── open.py │ ├── pick.py │ ├── place.py │ ├── planner.py │ ├── sequential_task.py │ ├── subtask.py │ └── wrappers │ │ ├── __init__.py │ │ ├── action.py │ │ ├── collect_data.py │ │ ├── debug_video_gpu.py │ │ ├── observation.py │ │ ├── record.py │ │ ├── record_seq_task.py │ │ └── vector │ │ ├── __init__.py │ │ └── record_episode_statistics.py ├── evaluate.py ├── train_bc.py ├── train_diffusion_policy.py ├── train_ppo.py ├── train_sac.py └── utils │ ├── array.py │ ├── bench │ ├── README.md │ ├── interact.yaml │ ├── interact_scene_builder.py │ ├── raytracing │ │ ├── README.md │ │ ├── mshab.py │ │ ├── omnigibson.py │ │ └── utils │ │ │ ├── autumn_field_puresky_4k.hdr │ │ │ ├── fetch_1cam.py │ │ │ ├── metadata │ │ │ └── scene_configs.json │ │ │ └── scene_builder_fetch_1cam.py │ └── run.py │ ├── config.py │ ├── dataclasses.py │ ├── dataset.py │ ├── gen │ ├── gen_data.py │ ├── gen_data_sequential_task.py │ ├── gen_spawn_positions.py │ └── gen_task_plans.py │ ├── io.py │ ├── label_dataset.py │ ├── logger.py │ ├── profile.py │ ├── time.py │ └── video.py ├── pyproject.toml ├── scripts ├── bench.sh ├── evaluate_sequential_task.sh ├── gen_dataset.sh ├── gen_dataset_sequential_task.sh ├── train_bc.sh ├── train_diffusion_policy.sh ├── train_ppo.sh └── train_sac.sh └── setup.py /.gitignore: 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