├── README.md ├── RoboticsDiffusionTransformer ├── .gitignore ├── LICENSE ├── README.md ├── configs │ ├── base.yaml │ ├── calvin_rel_traj_location_bounds_task_ABC_D.json │ ├── dataset_control_freq.json │ ├── dataset_img_keys.json │ ├── dataset_stat.json │ ├── finetune_datasets.json │ ├── finetune_sample_weights.json │ ├── pretrain_datasets.json │ ├── pretrain_sample_weights.json │ ├── state_vec.py │ └── zero2.json ├── data │ ├── .gitignore │ ├── agilex │ │ └── hdf5totfrecords.py │ ├── aloha │ │ ├── hdf5totfrecords.py │ │ └── unzip_data.sh │ ├── bridgev2 │ │ ├── bridgedata_numpy_to_tfrecord.py │ │ ├── bridgedata_raw_to_numpy.py │ │ └── download.sh │ ├── calvin │ │ ├── download.sh │ │ └── hdf5totfrecords.py │ ├── compute_dataset_stat.py │ ├── compute_dataset_stat_hdf5.py │ ├── empty_lang_embed.pt │ ├── episode_transform.py │ ├── filelock.py │ ├── hdf5_maniskill_dataset.py │ ├── hdf5_vla_dataset.py │ ├── lerobot_vla_dataset.py │ ├── openx_embod │ │ └── download.sh │ ├── preprocess.py │ ├── preprocess_scripts │ │ ├── __init__.py │ │ ├── agilex.py │ │ ├── aloha_mobile.py │ │ ├── aloha_static.py │ │ ├── asu_table_top_converted_externally_to_rlds.py │ │ ├── austin_buds_dataset_converted_externally_to_rlds.py │ │ ├── austin_sailor_dataset_converted_externally_to_rlds.py │ │ ├── austin_sirius_dataset_converted_externally_to_rlds.py │ │ ├── bc_z.py │ │ ├── berkeley_autolab_ur5.py │ │ ├── berkeley_cable_routing.py │ │ ├── berkeley_fanuc_manipulation.py │ │ ├── berkeley_gnm_cory_hall.py │ │ ├── berkeley_gnm_recon.py │ │ ├── berkeley_gnm_sac_son.py │ │ ├── berkeley_mvp_converted_externally_to_rlds.py │ │ ├── berkeley_rpt_converted_externally_to_rlds.py │ │ ├── bridge.py │ │ ├── bridgev2.py │ │ ├── calvin.py │ │ ├── cmu_franka_exploration_dataset_converted_externally_to_rlds.py │ │ ├── cmu_play_fusion.py │ │ ├── cmu_stretch.py │ │ ├── columbia_cairlab_pusht_real.py │ │ ├── dlr_edan_shared_control_converted_externally_to_rlds.py │ │ ├── dlr_sara_grid_clamp_converted_externally_to_rlds.py │ │ ├── dlr_sara_pour_converted_externally_to_rlds.py │ │ ├── dobbe.py │ │ ├── droid.py │ │ ├── eth_agent_affordances.py │ │ ├── fmb.py │ │ ├── fractal20220817_data.py │ │ ├── furniture_bench_dataset_converted_externally_to_rlds.py │ │ ├── iamlab_cmu_pickup_insert_converted_externally_to_rlds.py │ │ ├── imperialcollege_sawyer_wrist_cam.py │ │ ├── jaco_play.py │ │ ├── kaist_nonprehensile_converted_externally_to_rlds.py │ │ ├── kuka.py │ │ ├── language_table.py │ │ ├── maniskill_dataset_converted_externally_to_rlds.py │ │ ├── nyu_door_opening_surprising_effectiveness.py │ │ ├── nyu_franka_play_dataset_converted_externally_to_rlds.py │ │ ├── nyu_rot_dataset_converted_externally_to_rlds.py │ │ ├── qut_dexterous_manpulation.py │ │ ├── rh20t.py │ │ ├── robo_net.py │ │ ├── robomimic_can_ph.py │ │ ├── robomimic_lift_ph.py │ │ ├── robomimic_square_ph.py │ │ ├── robomimic_tool_hang_ph.py │ │ ├── robomimic_transport_ph.py │ │ ├── roboset.py │ │ ├── roboturk.py │ │ ├── roboturk_real_laundrylayout.py │ │ ├── roboturk_real_objectsearch.py │ │ ├── roboturk_real_towercreation.py │ │ ├── stanford_hydra_dataset_converted_externally_to_rlds.py │ │ ├── stanford_kuka_multimodal_dataset_converted_externally_to_rlds.py │ │ ├── stanford_mask_vit_converted_externally_to_rlds.py │ │ ├── stanford_robocook_converted_externally_to_rlds.py │ │ ├── taco_play.py │ │ ├── tokyo_u_lsmo_converted_externally_to_rlds.py │ │ ├── toto.py │ │ ├── ucsd_kitchen_dataset_converted_externally_to_rlds.py │ │ ├── ucsd_pick_and_place_dataset_converted_externally_to_rlds.py │ │ ├── uiuc_d3field.py │ │ ├── usc_cloth_sim_converted_externally_to_rlds.py │ │ ├── utaustin_mutex.py │ │ ├── utokyo_pr2_opening_fridge_converted_externally_to_rlds.py │ │ ├── utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds.py │ │ ├── utokyo_xarm_bimanual_converted_externally_to_rlds.py │ │ ├── utokyo_xarm_pick_and_place_converted_externally_to_rlds.py │ │ └── viola.py │ ├── producer.py │ ├── rh20t │ │ └── hdf5totfrecords.py │ ├── roboset │ │ ├── download.py │ │ ├── download.sh │ │ ├── h5totfrecords.py │ │ └── links.txt │ ├── utils.py │ └── vla_dataset.py ├── docs │ ├── pretrain.md │ └── test_6drot.py ├── eval_sim │ ├── eval_dp.py │ ├── eval_octo.py │ ├── eval_openvla.py │ └── eval_rdt_maniskill.py ├── finetune.sh ├── finetune_maniskill.sh ├── inference.sh ├── main.py ├── models │ ├── ema_model.py │ ├── hub_mixin.py │ ├── multimodal_encoder │ │ ├── clip_encoder.py │ │ ├── dinov2_encoder.py │ │ ├── siglip_encoder.py │ │ └── t5_encoder.py │ ├── rdt │ │ ├── blocks.py │ │ └── model.py │ └── rdt_runner.py ├── pretrain.sh ├── requirements.txt ├── requirements_data.txt ├── scripts │ ├── agilex_inference.py │ ├── agilex_model.py │ ├── autobio_model.py │ ├── autobio_serve.py │ ├── encode_lang.py │ ├── encode_lang_batch.py │ ├── encode_lang_lerobot.py │ └── maniskill_model.py ├── train.bash └── train │ ├── dataset.py │ ├── image_corrupt.py │ ├── sample.py │ └── train.py ├── autobio ├── README.md ├── aloha_analytical_ik.py ├── assets │ ├── common │ │ └── font │ │ │ ├── LICENSE │ │ │ ├── NotoSans-Bold.ttf │ │ │ ├── NotoSans-Medium.ttf │ │ │ ├── NotoSans-SemiBold.ttf │ │ │ └── NotoSansMath-Regular.ttf │ ├── container │ │ ├── cell_dish_100_vis.obj │ │ ├── cell_dish_100_vis │ │ │ └── visual.obj │ │ ├── centrifuge_1-5ml_screw_vis │ │ │ ├── centrifuge_1-5ml_screw_body.STL │ │ │ └── centrifuge_1-5ml_screw_cap.STL │ │ ├── centrifuge_10ml_vis.obj │ │ ├── centrifuge_10ml_vis │ │ │ └── visual.obj │ │ ├── centrifuge_1500ul_no_lid_vis.obj │ │ ├── centrifuge_1500ul_no_lid_vis │ │ │ └── visual.obj │ │ ├── centrifuge_15ml_screw_vis │ │ │ ├── centrifuge_tube_15ml_body.STL │ │ │ ├── centrifuge_tube_15ml_cap.STL │ │ │ └── centrifuge_tube_15ml_graduation.png │ │ ├── centrifuge_50ml_screw_vis │ │ │ ├── centrifuge_tube_50ml_body.STL │ │ │ ├── centrifuge_tube_50ml_cap.STL │ │ │ └── centrifuge_tube_50ml_graduation.png │ │ ├── centrifuge_50ml_vis.obj │ │ ├── centrifuge_50ml_vis │ │ │ └── visual.obj │ │ ├── cryovial_1-8ml_vis │ │ │ ├── cryovial_1-8ml_body.STL │ │ │ └── cryovial_1-8ml_cap.STL │ │ ├── pcr_plate_96well_vis.obj │ │ ├── pcr_plate_96well_vis │ │ │ └── visual.obj │ │ ├── tip_200ul_col.obj │ │ ├── tip_200ul_col │ │ │ └── tip_collision_0.obj │ │ └── tip_200ul_vis │ │ │ └── visual.obj │ ├── instrument │ │ ├── 3DGS.md │ │ ├── centrifuge_eppendorf_5430 │ │ │ ├── body-0.png │ │ │ ├── body-collision-0.obj │ │ │ ├── body-inertia.obj │ │ │ ├── body-visual-0.obj │ │ │ ├── body-visual-1.obj │ │ │ ├── body-visual-2.obj │ │ │ ├── body-visual-3.obj │ │ │ ├── lid-inertia.obj │ │ │ ├── lid-visual-0.obj │ │ │ ├── lid-visual-1.obj │ │ │ ├── rotor-collision-pre.obj │ │ │ ├── rotor-collision │ │ │ │ ├── 0.obj │ │ │ │ ├── 1.obj │ │ │ │ ├── 10.obj │ │ │ │ ├── 11.obj │ │ │ │ ├── 12.obj │ │ │ │ ├── 13.obj │ │ │ │ ├── 14.obj │ │ │ │ ├── 15.obj │ │ │ │ ├── 16.obj │ │ │ │ ├── 17.obj │ │ │ │ ├── 18.obj │ │ │ │ ├── 19.obj │ │ │ │ ├── 2.obj │ │ │ │ ├── 20.obj │ │ │ │ ├── 21.obj │ │ │ │ ├── 22.obj │ │ │ │ ├── 23.obj │ │ │ │ ├── 24.obj │ │ │ │ ├── 25.obj │ │ │ │ ├── 26.obj │ │ │ │ ├── 27.obj │ │ │ │ ├── 28.obj │ │ │ │ ├── 29.obj │ │ │ │ ├── 3.obj │ │ │ │ ├── 30.obj │ │ │ │ ├── 31.obj │ │ │ │ ├── 32.obj │ │ │ │ ├── 33.obj │ │ │ │ ├── 34.obj │ │ │ │ ├── 35.obj │ │ │ │ ├── 36.obj │ │ │ │ ├── 37.obj │ │ │ │ ├── 38.obj │ │ │ │ ├── 39.obj │ │ │ │ ├── 4.obj │ │ │ │ ├── 40.obj │ │ │ │ ├── 41.obj │ │ │ │ ├── 42.obj │ │ │ │ ├── 43.obj │ │ │ │ ├── 44.obj │ │ │ │ ├── 45.obj │ │ │ │ ├── 46.obj │ │ │ │ ├── 47.obj │ │ │ │ ├── 48.obj │ │ │ │ ├── 49.obj │ │ │ │ ├── 5.obj │ │ │ │ ├── 50.obj │ │ │ │ ├── 51.obj │ │ │ │ ├── 52.obj │ │ │ │ ├── 53.obj │ │ │ │ ├── 54.obj │ │ │ │ ├── 55.obj │ │ │ │ ├── 56.obj │ │ │ │ ├── 57.obj │ │ │ │ ├── 58.obj │ │ │ │ ├── 59.obj │ │ │ │ ├── 6.obj │ │ │ │ ├── 60.obj │ │ │ │ ├── 61.obj │ │ │ │ ├── 62.obj │ │ │ │ ├── 63.obj │ │ │ │ ├── 64.obj │ │ │ │ ├── 65.obj │ │ │ │ ├── 7.obj │ │ │ │ ├── 8.obj │ │ │ │ └── 9.obj │ │ │ ├── rotor-inertia.obj │ │ │ └── rotor-visual-0.obj │ │ ├── centrifuge_eppendorf_5910_ri │ │ │ ├── adapter-17x15-inertia.obj │ │ │ ├── adapter-17x15-visual-0.obj │ │ │ ├── adapter-7x50-inertia.obj │ │ │ ├── adapter-7x50-visual-0.obj │ │ │ ├── body-0.png │ │ │ ├── body-collision-0.obj │ │ │ ├── body-inertia.obj │ │ │ ├── body-visual-0.obj │ │ │ ├── body-visual-1.obj │ │ │ ├── body-visual-2.obj │ │ │ ├── lid-inertia.obj │ │ │ ├── lid-visual-0.obj │ │ │ ├── lid-visual-1.obj │ │ │ ├── rotor-body-inertia.obj │ │ │ ├── rotor-body-visual-0.obj │ │ │ ├── rotor-body-visual-1.obj │ │ │ ├── rotor-bucket-inertia.obj │ │ │ └── rotor-bucket-visual-0.obj │ │ ├── centrifuge_tiangen_tgear_mini │ │ │ ├── body-0.png │ │ │ ├── body-collision-0.obj │ │ │ ├── body-collision-1.obj │ │ │ ├── body-collision-2.obj │ │ │ ├── body-collision-3.obj │ │ │ ├── body-inertia.obj │ │ │ ├── body-visual-0.obj │ │ │ ├── body-visual-1.obj │ │ │ ├── body-visual-2.obj │ │ │ ├── body-visual-3.obj │ │ │ ├── body-visual-4.obj │ │ │ ├── lid-collision-0.obj │ │ │ ├── lid-collision-1.obj │ │ │ ├── lid-inertia.obj │ │ │ ├── lid-visual-0.obj │ │ │ ├── rotor-inertia.obj │ │ │ └── rotor-visual-0.obj │ │ ├── thermal_cycler_biorad_c1000 │ │ │ ├── body-0.png │ │ │ ├── body-collision-0.obj │ │ │ ├── body-inertia.obj │ │ │ ├── body-visual-0.obj │ │ │ ├── body-visual-1.obj │ │ │ ├── body-visual-2.obj │ │ │ ├── body-visual-3.obj │ │ │ ├── lid-force-knob-inertia.obj │ │ │ ├── lid-force-knob-visual-0.obj │ │ │ ├── lid-inertia.obj │ │ │ ├── lid-lever-inertia.obj │ │ │ ├── lid-lever-visual-0.obj │ │ │ ├── lid-lever-visual-1.obj │ │ │ ├── lid-visual-0.obj │ │ │ ├── lid-visual-1.obj │ │ │ ├── reaction-block-inertia.obj │ │ │ └── reaction-block-visual-0.obj │ │ ├── thermal_mixer_eppendorf_c │ │ │ ├── body-0.png │ │ │ ├── body-display-placeholder.png │ │ │ ├── body-inertia.obj │ │ │ ├── body-visual-0.obj │ │ │ ├── body-visual-1.obj │ │ │ ├── body-visual-2.obj │ │ │ ├── body-visual-3.obj │ │ │ ├── body-visual-4.obj │ │ │ └── icon │ │ │ │ ├── interval_mix.png │ │ │ │ ├── lock.png │ │ │ │ ├── paused.png │ │ │ │ ├── running.png │ │ │ │ ├── speaker_off.png │ │ │ │ ├── speaker_on.png │ │ │ │ ├── temp_control.png │ │ │ │ ├── time_control.png │ │ │ │ └── unlock.png │ │ └── vortex_mixer_genie_2 │ │ │ ├── body-0.png │ │ │ ├── body-collision-0.obj │ │ │ ├── body-inertia.obj │ │ │ ├── body-visual-0.obj │ │ │ ├── body-visual-1.obj │ │ │ ├── body-visual-2.obj │ │ │ ├── knob-collision-0.obj │ │ │ ├── knob-inertia.obj │ │ │ ├── knob-visual-0.obj │ │ │ ├── platform-inertia.obj │ │ │ ├── platform-visual-0.obj │ │ │ ├── switch-inertia.obj │ │ │ └── switch-visual-0.obj │ ├── rack │ │ ├── centrifuge_10slot_vis.obj │ │ ├── centrifuge_10slot_vis │ │ │ ├── lower_plane_visual.obj │ │ │ ├── pillars_visual.obj │ │ │ └── upper_plane_visual.obj │ │ ├── centrifuge_plate_60well_vis.obj │ │ ├── centrifuge_plate_60well_vis │ │ │ └── visual.obj │ │ ├── pipette_rack_tri_col.obj │ │ ├── pipette_rack_tri_col │ │ │ ├── beam_collision_0.obj │ │ │ ├── leg1_collision_0.obj │ │ │ └── leg2_collision_0.obj │ │ ├── pipette_rack_tri_vis.obj │ │ ├── pipette_rack_tri_vis │ │ │ ├── beam_visual.obj │ │ │ └── legs_visual.obj │ │ ├── tip_box_24slot_vis.obj │ │ └── tip_box_24slot_vis │ │ │ ├── low_visual.obj │ │ │ └── up_visual.obj │ ├── robot │ │ ├── aloha2 │ │ │ ├── LICENSE │ │ │ ├── angled_extrusion.stl │ │ │ ├── corner_bracket.stl │ │ │ ├── d405_solid.stl │ │ │ ├── extrusion_1000.stl │ │ │ ├── extrusion_1220.stl │ │ │ ├── extrusion_150.stl │ │ │ ├── extrusion_2040_1000.stl │ │ │ ├── extrusion_2040_880.stl │ │ │ ├── extrusion_600.stl │ │ │ ├── interbotix_black.png │ │ │ ├── overhead_mount.stl │ │ │ ├── small_meta_table_diffuse.png │ │ │ ├── vx300s_1_base.stl │ │ │ ├── vx300s_2_shoulder.stl │ │ │ ├── vx300s_3_upper_arm.stl │ │ │ ├── vx300s_4_upper_forearm.stl │ │ │ ├── vx300s_5_lower_forearm.stl │ │ │ ├── vx300s_6_wrist.stl │ │ │ ├── vx300s_7_gripper.stl │ │ │ ├── vx300s_7_gripper_bar.stl │ │ │ ├── vx300s_7_gripper_camera.stl │ │ │ ├── vx300s_7_gripper_prop.stl │ │ │ ├── vx300s_7_gripper_prop_bar.stl │ │ │ ├── vx300s_7_gripper_wrist_mount.stl │ │ │ ├── vx300s_8_custom_finger_left.stl │ │ │ ├── vx300s_8_custom_finger_right.stl │ │ │ └── wormseye_mount.stl │ │ ├── dexhand021 │ │ │ ├── LICENSE │ │ │ ├── l_f_link1_1.STL │ │ │ ├── l_f_link1_2.STL │ │ │ ├── l_f_link1_3.STL │ │ │ ├── l_f_link1_4.STL │ │ │ ├── l_f_link2_1.STL │ │ │ ├── l_f_link2_2.STL │ │ │ ├── l_f_link2_3.STL │ │ │ ├── l_f_link2_4.STL │ │ │ ├── l_f_link3_1.STL │ │ │ ├── l_f_link3_2.STL │ │ │ ├── l_f_link3_3.STL │ │ │ ├── l_f_link3_4.STL │ │ │ ├── l_f_link4_1.STL │ │ │ ├── l_f_link4_2.STL │ │ │ ├── l_f_link4_3.STL │ │ │ ├── l_f_link4_4.STL │ │ │ ├── l_f_link5_1.STL │ │ │ ├── l_f_link5_2.STL │ │ │ ├── l_f_link5_3.STL │ │ │ ├── l_f_link5_4.STL │ │ │ ├── left_hand_base.STL │ │ │ ├── r_f_link1_1.STL │ │ │ ├── r_f_link1_2.STL │ │ │ ├── r_f_link1_3.STL │ │ │ ├── r_f_link1_4.STL │ │ │ ├── r_f_link2_1.STL │ │ │ ├── r_f_link2_2.STL │ │ │ ├── r_f_link2_3.STL │ │ │ ├── r_f_link2_4.STL │ │ │ ├── r_f_link3_1.STL │ │ │ ├── r_f_link3_2.STL │ │ │ ├── r_f_link3_3.STL │ │ │ ├── r_f_link3_4.STL │ │ │ ├── r_f_link4_1.STL │ │ │ ├── r_f_link4_2.STL │ │ │ ├── r_f_link4_3.STL │ │ │ ├── r_f_link4_4.STL │ │ │ ├── r_f_link5_1.STL │ │ │ ├── r_f_link5_2.STL │ │ │ ├── r_f_link5_3.STL │ │ │ ├── r_f_link5_4.STL │ │ │ └── right_hand_base.STL │ │ ├── robotiq │ │ │ ├── LICENSE │ │ │ ├── base.stl │ │ │ ├── base_mount.stl │ │ │ ├── coupler.stl │ │ │ ├── driver.stl │ │ │ ├── follower.stl │ │ │ ├── pad.stl │ │ │ ├── silicone_pad.stl │ │ │ └── spring_link.stl │ │ └── ur5e │ │ │ ├── LICENSE │ │ │ ├── base_0.obj │ │ │ ├── base_1.obj │ │ │ ├── forearm_0.obj │ │ │ ├── forearm_1.obj │ │ │ ├── forearm_2.obj │ │ │ ├── forearm_3.obj │ │ │ ├── shoulder_0.obj │ │ │ ├── shoulder_1.obj │ │ │ ├── shoulder_2.obj │ │ │ ├── upperarm_0.obj │ │ │ ├── upperarm_1.obj │ │ │ ├── upperarm_2.obj │ │ │ ├── upperarm_3.obj │ │ │ ├── wrist1_0.obj │ │ │ ├── wrist1_1.obj │ │ │ ├── wrist1_2.obj │ │ │ ├── wrist2_0.obj │ │ │ ├── wrist2_1.obj │ │ │ ├── wrist2_2.obj │ │ │ └── wrist3.obj │ └── tool │ │ ├── pipette.obj │ │ └── pipette │ │ ├── body_collision_0.obj │ │ ├── body_collision_1.obj │ │ ├── body_collision_2.obj │ │ ├── body_collision_3.obj │ │ ├── body_visual.obj │ │ ├── connector_visual.obj │ │ ├── knob_visual.obj │ │ ├── pusher_mid_visual.obj │ │ ├── pusher_right1_collision_0.obj │ │ ├── pusher_right1_visual.obj │ │ ├── pusher_right2_collision_0.obj │ │ ├── pusher_right2_visual.obj │ │ ├── pusher_right3_collision_0.obj │ │ ├── pusher_right3_collision_1.obj │ │ ├── pusher_right3_visual.obj │ │ ├── tube_collision_0.obj │ │ ├── tube_collision_1.obj │ │ └── tube_visual.obj ├── collision_mesh.py ├── evaluate.py ├── evaluate_openpi.py ├── evaluate_rdt.py ├── evaluator.py ├── grasp │ ├── __init__.py │ ├── body.py │ ├── equality.py │ ├── geom.py │ ├── hierarchy.py │ ├── joint.py │ ├── quat.py │ ├── site.py │ ├── symbolic.py │ └── transform.py ├── instrument.py ├── kinematics.py ├── libmjlab.so.3.3.0 ├── liquid.py ├── load_centrifuge_5430.py ├── mani_centrifuge_5430.py ├── mani_centrifuge_5910.py ├── mani_centrifuge_mini.py ├── mani_pipette.py ├── mani_thermal_cycler.py ├── mani_thermal_mixer.py ├── mani_vortex_mixer.py ├── meshplane.so ├── model │ ├── hand │ │ ├── dexhand021_right.xml │ │ ├── shadowhand_left.xml │ │ ├── shadowhand_right.xml │ │ └── shadowhand_right_mjx.xml │ ├── instrument │ │ ├── centrifuge_eppendorf_5430.xml │ │ ├── centrifuge_eppendorf_5910_ri.xml │ │ ├── centrifuge_tiangen_tgear_mini.xml │ │ ├── thermal_cycler_biorad_c1000.xml │ │ ├── thermal_mixer_eppendorf_c.xml │ │ └── vortex_mixer_genie_2.xml │ ├── misc │ │ ├── opt_bottlecap.xml │ │ ├── opt_dexhand021_right.xml │ │ ├── opt_phone.xml │ │ ├── opt_writing_tripod.xml │ │ ├── phone.xml │ │ ├── pipeline.xml │ │ ├── power_dexhand021_right.xml │ │ ├── simple_table.xml │ │ ├── vis_grasp_mode.xml │ │ └── vis_writing_tripod.xml │ ├── object │ │ ├── cell_dish_100.gen.xml │ │ ├── cell_dish_100.xml │ │ ├── centrifuge_1-5ml.xml │ │ ├── centrifuge_1-5ml_screw-simple.xml │ │ ├── centrifuge_1-5ml_screw.xml │ │ ├── centrifuge_10ml.gen.xml │ │ ├── centrifuge_10ml.xml │ │ ├── centrifuge_10slot.gen.xml │ │ ├── centrifuge_10slot.xml │ │ ├── centrifuge_1500ul_no_lid.gen.xml │ │ ├── centrifuge_1500ul_no_lid.xml │ │ ├── centrifuge_15ml.xml │ │ ├── centrifuge_15ml_screw.xml │ │ ├── centrifuge_50ml.gen.xml │ │ ├── centrifuge_50ml.xml │ │ ├── centrifuge_50ml_screw.xml │ │ ├── centrifuge_plate_60well.gen.xml │ │ ├── centrifuge_plate_60well.xml │ │ ├── cryovial_1-8ml.xml │ │ ├── pcr_plate_96well.gen.xml │ │ ├── pcr_plate_96well.xml │ │ ├── pipette.gen.xml │ │ ├── pipette.xml │ │ ├── pipette_rack.gen.xml │ │ ├── pipette_rack.xml │ │ ├── pipette_tip.gen.xml │ │ ├── pipette_tip.xml │ │ ├── tip_box.gen.xml │ │ └── tip_box.xml │ ├── robot │ │ ├── 2f85.xml │ │ ├── aloha_left.xml │ │ ├── dualrm.xml │ │ ├── piper.xml │ │ ├── ur5e_dexhand021_right.xml │ │ └── ur5e_gripper.xml │ └── scene │ │ ├── bottlecap.xml │ │ ├── gallery.xml │ │ ├── gallery2.xml │ │ ├── insert.xml │ │ ├── insert_centrifuge_5430.xml │ │ ├── lab.xml │ │ ├── lab_screw_all.xml │ │ ├── lab_screw_tighten.xml │ │ ├── mani_centrifuge_5430.xml │ │ ├── mani_centrifuge_5910.xml │ │ ├── mani_centrifuge_mini.xml │ │ ├── mani_pipette.xml │ │ ├── mani_thermal_cycler.xml │ │ ├── mani_thermal_mixer.xml │ │ ├── pickup.xml │ │ ├── screw.xml │ │ ├── screw_test.xml │ │ ├── screw_v3.xml │ │ └── vortex_mixer.xml ├── packages │ └── autobio-inference │ │ ├── pyproject.toml │ │ └── src │ │ └── autobio_inference │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── __init__.cpython-311.pyc │ │ ├── base_policy.cpython-310.pyc │ │ ├── base_policy.cpython-311.pyc │ │ ├── launch.cpython-310.pyc │ │ ├── launch.cpython-311.pyc │ │ ├── msgpack_numpy.cpython-310.pyc │ │ ├── msgpack_numpy.cpython-311.pyc │ │ ├── websocket_client_policy.cpython-311.pyc │ │ ├── websocket_load_balance.cpython-310.pyc │ │ ├── websocket_load_balance.cpython-311.pyc │ │ ├── websocket_policy_server.cpython-310.pyc │ │ └── websocket_policy_server.cpython-311.pyc │ │ ├── base_policy.py │ │ ├── launch.py │ │ ├── msgpack_numpy.py │ │ ├── websocket_client_policy.py │ │ ├── websocket_load_balance.py │ │ └── websocket_policy_server.py ├── pickup_centrifuge_tube.py ├── render.bash ├── render.py ├── render_blender.py ├── render_blender_driver.py ├── render_liquid.py ├── render_ui.py ├── render_video.bash ├── screw_loosen.py ├── screw_tighten.py ├── serialize.py ├── simulation.py ├── task.py ├── thermal_mixer_ui.py ├── topp.py ├── transfer_centrifuge_tube.py └── validate.py └── openpi ├── .dockerignore ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── .python-version ├── .vscode └── settings.json ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── pyproject.toml ├── scripts ├── __init__.py ├── compute_norm_stats.py ├── convert.py ├── docker │ ├── compose.yml │ ├── install_docker_ubuntu22.sh │ ├── install_nvidia_container_toolkit.sh │ └── serve_policy.Dockerfile ├── lora.bash ├── serve_policy.py ├── shrink_checkpoint.py ├── train.py └── train_test.py ├── slurm ├── process_data.bash └── train.bash ├── src └── openpi │ ├── __init__.py │ ├── conftest.py │ ├── models │ ├── __init__.py │ ├── gemma.py │ ├── gemma_fast.py │ ├── lora.py │ ├── lora_test.py │ ├── model.py │ ├── model_test.py │ ├── pi0.py │ ├── pi0_fast.py │ ├── pi0_test.py │ ├── siglip.py │ ├── tokenizer.py │ ├── tokenizer_test.py │ └── vit.py │ ├── policies │ ├── aloha_policy.py │ ├── autobio_policy.py │ ├── droid_policy.py │ ├── libero_policy.py │ ├── policy.py │ ├── policy_config.py │ └── policy_test.py │ ├── py.typed │ ├── serving │ └── websocket_policy_server.py │ ├── shared │ ├── __init__.py │ ├── array_typing.py │ ├── download.py │ ├── download_test.py │ ├── image_tools.py │ ├── image_tools_test.py │ ├── nnx_utils.py │ ├── normalize.py │ └── normalize_test.py │ ├── training │ ├── checkpoints.py │ ├── config.py │ 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