├── .gitignore ├── LICENSE ├── README.md ├── cfgs ├── diffuser_config.yaml ├── env │ ├── rlbench.yaml │ ├── rlbench │ │ ├── open_box.yaml │ │ ├── open_door.yaml │ │ ├── open_drawer.yaml │ │ ├── open_grill.yaml │ │ ├── open_microwave.yaml │ │ ├── open_oven.yaml │ │ ├── pick_and_lift.yaml │ │ ├── pick_up_cup.yaml │ │ ├── put_knife_on_chopping_board.yaml │ │ ├── reach_target.yaml │ │ ├── take_lid_off_saucepan.yaml │ │ └── toilet_seat_up.yaml │ └── sim.yaml ├── eval.yaml └── method │ └── rk_diffuser.yaml ├── eval.py ├── extra_scripts ├── dataset_generator.py └── install_coppeliasim.sh ├── helpers ├── __init__.py ├── clip │ ├── __init__.py │ └── core │ │ ├── __init__.py │ │ ├── attention.py │ │ ├── attention_image_goal.py │ │ ├── bpe_simple_vocab_16e6.txt.gz │ │ ├── clip.py │ │ ├── fusion.py │ │ ├── resnet.py │ │ ├── simple_tokenizer.py │ │ ├── transport.py │ │ ├── transport_image_goal.py │ │ └── unet.py ├── custom_rlbench_env.py ├── demo_loading_utils.py ├── network_utils.py ├── optim │ ├── __init__.py │ └── lamb.py ├── preprocess_agent.py └── utils.py ├── images └── sim.gif ├── panda_urdf ├── meshes │ ├── Pandagripper_coll_1.dae │ ├── Pandagrippervisual_vis_1.dae │ ├── Pandagrippervisual_vis_2.dae │ ├── Pandagrippervisual_vis_3.dae │ ├── Pandagrippervisual_vis_4.dae │ ├── Pandagrippervisual_vis_5.dae │ ├── Pandaleftfingervisible_vis_1.dae │ ├── Pandaleftfingervisible_vis_2.dae │ ├── Pandalink0visual_vis_1.dae │ ├── Pandalink1respondable_coll_1.dae │ ├── Pandalink1visual_vis_1.dae │ ├── Pandalink2respondable_coll_1.dae │ ├── Pandalink2visual_vis_1.dae │ ├── Pandalink3respondable_coll_1.dae │ ├── Pandalink3visual_vis_1.dae │ ├── Pandalink3visual_vis_2.dae │ ├── Pandalink4respondable_coll_1.dae │ ├── Pandalink4visual_vis_1.dae │ ├── Pandalink4visual_vis_2.dae │ ├── Pandalink5respondable_coll_1.dae │ ├── Pandalink5respondable_coll_2.dae │ ├── Pandalink5respondable_coll_3.dae │ ├── Pandalink5respondable_coll_4.dae │ ├── Pandalink5respondable_coll_5.dae │ ├── Pandalink5respondable_coll_6.dae │ ├── Pandalink5respondable_coll_7.dae │ ├── Pandalink5visual_vis_1.dae │ ├── Pandalink5visual_vis_2.dae │ ├── Pandalink6respondable_coll_1.dae │ ├── Pandalink6visual_vis_1.dae │ ├── Pandalink6visual_vis_2.dae │ ├── Pandalink6visual_vis_3.dae │ ├── Pandalink6visual_vis_4.dae │ ├── Pandalink6visual_vis_5.dae │ ├── Pandalink6visual_vis_6.dae │ ├── Pandalink7respondable_coll_1.dae │ ├── Pandalink7visual_vis_1.dae │ ├── Pandalink7visual_vis_2.dae │ ├── Pandalink7visual_vis_3.dae │ ├── Pandalink7visual_vis_4.dae │ ├── Pandalink7visual_vis_5.dae │ ├── Pandarightfingervisual_vis_1.dae │ ├── Pandarightfingervisual_vis_2.dae │ └── robot_base_coll_1.dae └── panda.urdf ├── peract ├── ARM_LICENSE ├── LICENSE ├── agents │ ├── __init__.py │ └── peract_diffusion │ │ ├── __init__.py │ │ ├── launch_utils.py │ │ ├── perceiver_lang_io.py │ │ ├── qattention_peract_bc_agent.py │ │ └── qattention_stack_agent.py └── voxel │ ├── __init__.py │ ├── augmentation.py │ └── voxel_grid.py ├── requirements.txt ├── rk_diffuser ├── __init__.py ├── dataset │ ├── __init__.py │ ├── realworld_dataset.py │ ├── rl_bench_dataset.py │ └── rl_bench_env.py ├── models │ ├── __init__.py │ ├── diffusion.py │ ├── helpers.py │ ├── multi_level_diffusion.py │ ├── pointnet.py │ ├── resnet.py │ └── temporal.py ├── robot.py ├── trainer.py └── utils.py ├── setup.py └── train_low_level.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dyson-ai/hdp/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dyson-ai/hdp/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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