├── .gitignore ├── LICENSE ├── README.md ├── config ├── comp │ ├── Comp_rSmaze_nw6nw1_hExt0505gsd_engy_add.py │ ├── Comp_rSmaze_nw6nw2_hExt0505gsd_engy_add.py │ ├── Comp_rSmaze_nw6nw3_hExt0505gsd_engy_add.py │ ├── Comp_rSmaze_nw6nw3_hExt0507_engy_add.py │ ├── Comp_rSmaze_nw6nw4_hExt0505gsd_engy_add.py │ ├── Comp_rSmaze_nw6nw5_hExt0505gsd_engy_add.py │ └── Comp_rSmaze_nw6nw6_hExt0505gsd_engy_add.py ├── dualk14 │ ├── dualk14Inv_exp_lrscheduler.py │ ├── dualk14_engy_testOnly.py │ └── dualk14_exp.py ├── kuka7d │ ├── kuka_engy_testOnly.py │ └── kuka_exp.py └── rm2d │ ├── DynrSmaze_engy_testOnly.py │ ├── DynrSmaze_nw1_hExt10_exp.py │ ├── rSmazeC43_concave_nw7_exp.py │ ├── rSmazeC43_engy_testOnly.py │ ├── rSmaze_engy_testOnly.py │ ├── rSmaze_nw3_hExt07_exp.py │ └── rSmaze_nw6_hExt05_exp.py ├── diffuser ├── __init__.py ├── datasets │ ├── __init__.py │ ├── buffer.py │ ├── data_api.py │ ├── normalization.py │ ├── preprocessing.py │ └── sequence.py ├── guides │ ├── comp_plan_env.py │ ├── comp_plan_helper.py │ ├── kuka_colchk.py │ ├── kuka_plan_env.py │ ├── kuka_plan_utils.py │ ├── kuka_replan.py │ ├── plan_pb_diff_helper.py │ ├── policies.py │ ├── policies_compose.py │ ├── rm2d_colchk.py │ └── rm2d_plan_env.py ├── models │ ├── __init__.py │ ├── diffusion_pb.py │ ├── helpers.py │ ├── temporal_cond.py │ ├── temporal_dd.py │ └── vit_vanilla.py └── utils │ ├── __init__.py │ ├── arrays.py │ ├── colab.py │ ├── comp │ └── comp_setup.py │ ├── config.py │ ├── eval_utils.py │ ├── git_utils.py │ ├── jupyter_utils.py │ ├── luo_utils.py │ ├── progress.py │ ├── rendering.py │ ├── rm2d_render.py │ ├── serialization.py │ ├── setup.py │ ├── timer.py │ ├── train_utils.py │ ├── training_pbdiff.py │ ├── transformations.py │ └── video.py ├── examples ├── eval_kuka7d_base.ipynb ├── eval_rm2d_base.ipynb ├── eval_rm2d_base_concave43.ipynb ├── eval_rm2d_comp.ipynb └── eval_rm2d_comp_diffmodels.ipynb ├── install_torch.sh ├── media ├── 0-teaser-github.png ├── env_show-github.png ├── teaser-github-v3.gif └── teaser-github-v3.m4v ├── pb_diff_envs ├── pb_diff_envs │ ├── .gitattributes │ ├── .gitignore │ ├── README.md │ ├── __init__.py │ ├── data │ │ └── robot │ │ │ ├── kuka_iiwa │ │ │ ├── kuka_with_gripper.sdf │ │ │ ├── kuka_with_gripper2.sdf │ │ │ ├── kuka_world.sdf │ │ │ ├── meshes │ │ │ │ ├── finger_base_left.stl │ │ │ │ ├── finger_base_right.stl │ │ │ │ ├── finger_tip_left.stl │ │ │ │ ├── finger_tip_right.stl │ │ │ │ ├── link_0.mtl │ │ │ │ ├── link_0.obj │ │ │ │ ├── link_0.stl │ │ │ │ ├── link_1.mtl │ │ │ │ ├── link_1.obj │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.mtl │ │ │ │ ├── link_2.obj │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.mtl │ │ │ │ ├── link_3.obj │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.mtl │ │ │ │ ├── link_4.obj │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.mtl │ │ │ │ ├── link_5.obj │ │ │ │ ├── link_5.stl │ │ │ │ ├── link_6.mtl │ │ │ │ ├── link_6.obj │ │ │ │ ├── link_6.stl │ │ │ │ ├── link_7.mtl │ │ │ │ ├── link_7.obj │ │ │ │ └── link_7.stl │ │ │ ├── model.sdf │ │ │ ├── model.urdf │ │ │ ├── model2.sdf │ │ │ ├── model_0.urdf │ │ │ ├── model_3.urdf │ │ │ ├── model_4dof.urdf │ │ │ ├── model_5dof.urdf │ │ │ ├── model_for_sdf.urdf │ │ │ ├── model_free_base.urdf │ │ │ ├── model_modify.urdf │ │ │ ├── model_vr_limits.urdf │ │ │ ├── table_dualkuka14d │ │ │ │ ├── table.mtl │ │ │ │ ├── table.obj │ │ │ │ ├── table.png │ │ │ │ └── table.urdf │ │ │ └── table_kuka7d │ │ │ │ ├── table.mtl │ │ │ │ ├── table.obj │ │ │ │ ├── table.png │ │ │ │ └── table.urdf │ │ │ ├── simple2arm │ │ │ └── 2dof.urdf │ │ │ ├── snake │ │ │ ├── red.png │ │ │ └── snake.urdf │ │ │ └── ur5 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ ├── gripper │ │ │ ├── README.md │ │ │ ├── robotiq-2f-base.mtl │ │ │ ├── robotiq-2f-base.obj │ │ │ ├── robotiq-2f-base.stl │ │ │ ├── robotiq-2f-coupler.mtl │ │ │ ├── robotiq-2f-coupler.obj │ │ │ ├── robotiq-2f-coupler.stl │ │ │ ├── robotiq-2f-driver.mtl │ │ │ ├── robotiq-2f-driver.obj │ │ │ ├── robotiq-2f-driver.stl │ │ │ ├── robotiq-2f-follower.mtl │ │ │ ├── robotiq-2f-follower.obj │ │ │ ├── robotiq-2f-follower.stl │ │ │ ├── robotiq-2f-pad.stl │ │ │ ├── robotiq-2f-spring_link.mtl │ │ │ ├── robotiq-2f-spring_link.obj │ │ │ ├── robotiq-2f-spring_link.stl │ │ │ ├── robotiq_2f_85.urdf │ │ │ └── textures │ │ │ │ ├── gripper-2f_BaseColor.jpg │ │ │ │ ├── gripper-2f_Metallic.jpg │ │ │ │ ├── gripper-2f_Normal.jpg │ │ │ │ └── gripper-2f_Roughness.jpg │ │ │ ├── license.txt │ │ │ ├── plane.obj │ │ │ ├── spatula │ │ │ ├── base.obj │ │ │ └── spatula-base.urdf │ │ │ ├── suction │ │ │ ├── base.obj │ │ │ ├── head.obj │ │ │ ├── mid.obj │ │ │ ├── suction-base.urdf │ │ │ ├── suction-head.urdf │ │ │ └── tip.obj │ │ │ ├── ur5.urdf │ │ │ ├── visual │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── workspace.urdf │ ├── datasets │ │ └── .gitkeep │ ├── environment │ │ ├── __init__.py │ │ ├── abs_maze2d_env.py │ │ ├── abstract_env.py │ │ ├── comp │ │ │ ├── comp_rand_kuka_vgrp.py │ │ │ ├── comp_rand_m2d_wgrp.py │ │ │ └── comp_stdyn_m2d_wgrp.py │ │ ├── dynamic │ │ │ ├── comp_stdyn_rm2d_env.py │ │ │ ├── dyn_rm2d_env.py │ │ │ ├── dyn_rm2d_renderer.py │ │ │ ├── dyn_rm2d_wgrp.py │ │ │ └── dyn_wtraj_gen.py │ │ ├── dynamic_env.py │ │ ├── dynamic_rrgroup.py │ │ ├── init_maze2d_gym.py │ │ ├── init_maze2d_gym_43.py │ │ ├── offline_env.py │ │ ├── pybullet_env.py │ │ ├── rand_cuboid_group.py │ │ ├── rand_rec_group.py │ │ ├── rand_rec_group_43.py │ │ ├── static │ │ │ ├── __init__.py │ │ │ ├── comp_cuboid_group.py │ │ │ ├── comp_kuka_env.py │ │ │ ├── comp_rec_group.py │ │ │ ├── comp_rm2d_env.py │ │ │ ├── dualkuka_rand_vgrp.py │ │ │ ├── kuka_rand_vgrp.py │ │ │ ├── maze2d_rand_wgrp.py │ │ │ ├── maze2d_rand_wgrp_43.py │ │ │ ├── rand_dualkuka14d_env.py │ │ │ ├── rand_kuka_env.py │ │ │ ├── rand_maze2d_env.py │ │ │ └── rand_maze2d_renderer.py │ │ └── static_env.py │ ├── examples │ │ ├── test_bit_dualkuka.ipynb │ │ ├── test_bit_kuka.ipynb │ │ ├── test_bit_maze2d.ipynb │ │ ├── test_bit_maze2d_concave.ipynb │ │ ├── test_comp_dualkuka.ipynb │ │ ├── test_comp_kuk.ipynb │ │ ├── test_comp_static_maze2d.ipynb │ │ ├── test_randmaze2d.ipynb │ │ ├── test_sipp_comp_stdyn_maze2d.ipynb │ │ └── test_sipp_dyn_maze2d.ipynb │ ├── objects │ │ ├── abstract_object.py │ │ ├── dynamic_object.py │ │ ├── obstacles.py │ │ ├── static │ │ │ ├── voxel.py │ │ │ └── voxel_group.py │ │ └── trajectory.py │ ├── planner │ │ ├── abstract_planner.py │ │ ├── bit_star_planner.py │ │ ├── dist_utils.py │ │ ├── rrt_star_planner.py │ │ ├── search_tree.py │ │ └── sipp_planner.py │ ├── robot │ │ ├── __init__.py │ │ ├── abstract_robot.py │ │ ├── grouping.py │ │ ├── individual_robot.py │ │ ├── kuka_robot.py │ │ ├── multi_robot │ │ │ └── dual_kuka_robot.py │ │ └── point2d_robot.py │ ├── run_gen_rand_cuboid_grp.py │ ├── scripts │ │ ├── gen_dyn_m2d_val_probs_mp.py │ │ ├── gen_dyn_m2d_val_probs_mp.sh │ │ ├── gen_k7d_list_mp.py │ │ ├── gen_k7d_list_mp.sh │ │ ├── gen_k7d_val_problems_mp.py │ │ ├── gen_k7d_val_problems_mp.sh │ │ ├── gen_m2d_mp.py │ │ ├── gen_m2d_mp.sh │ │ ├── gen_m2d_mp_list.sh │ │ ├── gen_static_m2d_val_probs_mp.py │ │ ├── gen_static_m2d_val_probs_mp.sh │ │ └── trad │ │ │ ├── load_trad_result.ipynb │ │ │ ├── run_trad_planner.py │ │ │ ├── run_trad_planner.sh │ │ │ └── run_trad_planner_list.sh │ └── utils │ │ ├── d4rl_utils.py │ │ ├── diffuser_utils.py │ │ ├── dyn │ │ ├── gen_dm2d_utils.py │ │ └── gen_dm2d_val_probs_utils.py │ │ ├── file_proc_utils.py │ │ ├── gen_dot_sm2d_utils.py │ │ ├── gen_kuka_utils_mp.py │ │ ├── gen_static_m2d_utils.py │ │ ├── gen_utils.py │ │ ├── gen_val_sm2d_utils.py │ │ ├── graphs.py │ │ ├── kuka_utils_luo.py │ │ ├── maze2d_utils.py │ │ ├── multiW_utils.py │ │ ├── robogroup_utils_luo.py │ │ ├── run_trad_planner_utils.py │ │ ├── save_utils.py │ │ ├── utils.py │ │ └── 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