├── .flake8 ├── .github └── workflows │ └── pre-commit.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── docs └── assets │ └── teaser.jpg ├── examples ├── 01_inference_pretrained.ipynb ├── 01_pt_inference_pretrained.ipynb ├── 02_finetune_new_observation_action.py ├── 02_pt_finetune_new_observation_action.py ├── 03_eval_finetuned.py ├── 03_pt_eval_finetuned.py ├── 04_eval_finetuned_on_robot.py ├── 05_dataloading.ipynb ├── 06_pytorch_oxe_dataloader.py ├── README.md └── envs │ ├── README.md │ ├── aloha_sim_env.py │ └── widowx_env.py ├── octo ├── __init__.py ├── data │ ├── __init__.py │ ├── dataset.py │ ├── obs_transforms.py │ ├── oxe │ │ ├── __init__.py │ │ ├── oxe_dataset_configs.py │ │ ├── oxe_dataset_mixes.py │ │ └── oxe_standardization_transforms.py │ ├── traj_transforms.py │ └── utils │ │ ├── __init__.py │ │ ├── data_utils.py │ │ ├── goal_relabeling.py │ │ ├── task_augmentation.py │ │ └── text_processing.py ├── model │ ├── __init__.py │ ├── components │ │ ├── __init__.py │ │ ├── action_heads.py │ │ ├── action_heads_pt.py │ │ ├── base.py │ │ ├── base_pt.py │ │ ├── block_transformer.py │ │ ├── block_transformer_pt.py │ │ ├── diffusion.py │ │ ├── diffusion_pt.py │ │ ├── film_conditioning_layer.py │ │ ├── jax_pt.py │ │ ├── tokenizers.py │ │ ├── tokenizers_pt.py │ │ ├── transformer.py │ │ ├── transformer_pt.py │ │ ├── unet.py │ │ ├── unet_pt.py │ │ ├── vit_encoders.py │ │ └── vit_encoders_pt.py │ ├── octo_model.py │ ├── octo_model_pt.py │ ├── octo_module.py │ └── octo_module_pt.py └── utils │ ├── __init__.py │ ├── gym_wrappers.py │ ├── jax_utils.py │ ├── spec.py │ ├── torch_rlds_dataset.py │ ├── train_callbacks.py │ ├── train_utils.py │ ├── train_utils_pt.py │ ├── typing.py │ └── visualization_lib.py ├── pyproject.toml ├── requirements.txt ├── scripts ├── configs │ ├── config.py │ ├── finetune_config.py │ ├── finetune_config_l1head.py │ └── octo_pretrain_config.py ├── finetune.py ├── finetune_pt.py ├── finetune_soup.py ├── finetune_soup_pt.py ├── jax_pt │ ├── load_attn.py │ ├── load_block_transformer.py │ ├── load_conv.py │ ├── load_gnorm.py │ ├── load_lang.py │ ├── load_mlp_block.py │ ├── load_octo_model.py │ ├── load_octo_module.py │ ├── load_octo_tkn_learner.py │ ├── load_proj.py │ ├── load_pt.py │ ├── load_qkv_proj.py │ ├── load_tokenizer.py │ ├── load_transformer.py │ └── test_goal.py └── train.py ├── setup.py └── tests ├── debug_config.py └── debug_dataset └── bridge_dataset └── 1.0.0 ├── bridge_dataset-train.tfrecord-00000-of-00001 ├── bridge_dataset-val.tfrecord-00000-of-00001 ├── dataset_info.json └── features.json /.flake8: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/emb-ai/octo-pytorch/HEAD/.flake8 -------------------------------------------------------------------------------- /.github/workflows/pre-commit.yaml: -------------------------------------------------------------------------------- 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