├── .circleci └── config.yml ├── .gitignore ├── .gitmodules ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── INSTALLATION.md ├── LICENSE ├── MODEL_CARD.md ├── README.md ├── cortexbench ├── DATASETS.md ├── README.md ├── habitat2_vc │ ├── INSTALLATION.md │ ├── README.md │ ├── analysis │ │ └── retrieve_results.py │ ├── configs │ │ ├── config.yaml │ │ ├── experiments │ │ │ └── rl_skill.yaml │ │ ├── hydra │ │ │ ├── launcher │ │ │ │ ├── slurm_eval_base.yaml │ │ │ │ ├── slurm_eval_large.yaml │ │ │ │ ├── slurm_train_base.yaml │ │ │ │ └── slurm_train_large.yaml │ │ │ └── output │ │ │ │ └── path.yaml │ │ ├── model │ │ │ └── transform │ │ │ │ ├── jitter_and_shift.yaml │ │ │ │ ├── jitter_shift_normalize.yaml │ │ │ │ ├── resnet_transforms.yaml │ │ │ │ └── vit_transforms.yaml │ │ ├── tasks │ │ │ ├── pick.yaml │ │ │ └── sensors │ │ │ │ ├── fixed_goal_sensor.yaml │ │ │ │ ├── normal.yaml │ │ │ │ └── only_visual.yaml │ │ └── wandb_habitat │ │ │ └── habitat2.yaml │ ├── habitat2_vc │ │ ├── __init__.py │ │ ├── policy.py │ │ └── visual_encoder.py │ ├── requirements.txt │ └── run_rearrangement_vc.py ├── habitat_vc │ ├── .gitignore │ ├── README.md │ ├── configs │ │ ├── config_imagenav.yaml │ │ ├── config_objectnav_il_frozen.yaml │ │ ├── eval_config_imagenav.yaml │ │ ├── eval_config_objectnav_il_frozen.yaml │ │ ├── experiments │ │ │ ├── imagenav_rl.yaml │ │ │ └── objectnav_il.yaml │ │ ├── hydra │ │ │ ├── launcher │ │ │ │ ├── slurm_eval.yaml │ │ │ │ └── slurm_train.yaml │ │ │ └── output │ │ │ │ └── path.yaml │ │ ├── model │ │ │ └── transform │ │ │ │ ├── jitter_and_shift.yaml │ │ │ │ └── jitter_and_shift_objectnav.yaml │ │ └── tasks │ │ │ ├── imagenav.yaml │ │ │ └── objectnav_hm3d_il.yaml │ ├── habitat_vc │ │ ├── __init__.py │ │ ├── config.py │ │ ├── il │ │ │ ├── __init__.py │ │ │ └── objectnav │ │ │ │ ├── __init__.py │ │ │ │ ├── algos │ │ │ │ ├── __init__.py │ │ │ │ └── agent.py │ │ │ │ ├── custom_baseline_registry.py │ │ │ │ ├── dataset.py │ │ │ │ ├── il_ddp_trainer.py │ │ │ │ ├── il_trainer.py │ │ │ │ ├── object_nav_task.py │ │ │ │ ├── objectnav_replay.py │ │ │ │ ├── policy.py │ │ │ │ ├── rnn_state_encoder.py │ │ │ │ ├── rollout_storage.py │ │ │ │ ├── sensors.py │ │ │ │ └── visual_policy.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── freeze_batchnorm.py │ │ │ ├── resnet.py │ │ │ └── resnet_encoders.py │ │ ├── rl │ │ │ ├── __init__.py │ │ │ ├── environment.py │ │ │ ├── imagenav │ │ │ │ ├── __init__.py │ │ │ │ └── sensors.py │ │ │ ├── measures.py │ │ │ ├── policy.py │ │ │ ├── ppo.py │ │ │ ├── ppo_trainer.py │ │ │ └── reward.py │ │ ├── utils.py │ │ └── visual_encoder.py │ ├── run_habitat_vc.py │ ├── setup.cfg │ ├── setup.py │ ├── tests │ │ ├── conftest.py │ │ └── test_visual_encoder.py │ └── tools │ │ ├── collect-shortest-path-data.py │ │ └── verify-shortest-path-data.py ├── mujoco_vc │ ├── README.md │ ├── setup.py │ ├── src │ │ └── mujoco_vc │ │ │ ├── __init__.py │ │ │ ├── gym_wrapper.py │ │ │ ├── model_loading.py │ │ │ ├── rollout_utils.py │ │ │ └── supported_envs.py │ ├── tests │ │ ├── conftest.py │ │ └── test_eaif_mujoco.py │ └── visual_imitation │ │ ├── README.md │ │ ├── config │ │ ├── Adroit_BC_config.yaml │ │ ├── DMC_BC_config.yaml │ │ ├── Metaworld_BC_config.yaml │ │ ├── hydra │ │ │ ├── launcher │ │ │ │ ├── local.yaml │ │ │ │ └── slurm.yaml │ │ │ └── output │ │ │ │ └── default.yaml │ │ └── wandb │ │ │ └── cortexbench.yaml │ │ ├── core_model_set.py │ │ ├── hydra_launcher.py │ │ ├── launch_all_jobs.sh │ │ └── train_loop.py └── trifinger_vc │ ├── README.md │ ├── assets │ └── bc_demos │ │ ├── demos_dtrain-110_train-0-100_dtest-110_test-100-125_scale-100_dts-0p4.json │ │ └── feb_demos_dtrain-110_train-0-100_dtest-110_test-100-125_scale-100_dts-0p4.json │ ├── bc_experiments │ └── train_bc.py │ ├── setup.py │ ├── src │ └── trifinger_vc │ │ ├── __init__.py │ │ ├── algos │ │ ├── __init__.py │ │ └── bc_finetune.py │ │ ├── config │ │ ├── algo │ │ │ └── bc_finetune.yaml │ │ ├── bc_default.yaml │ │ ├── hydra │ │ │ └── launcher │ │ │ │ ├── slurm_default.yaml │ │ │ │ └── slurm_default_large.yaml │ │ ├── logger │ │ │ ├── cli.yaml │ │ │ └── wandb.yaml │ │ ├── policy │ │ │ ├── default.yaml │ │ │ └── finetune.yaml │ │ ├── task │ │ │ ├── move_cube.yaml │ │ │ └── reach_cube.yaml │ │ └── test_bc.yaml │ │ ├── control │ │ ├── cube_utils.py │ │ ├── custom_pinocchio_utils.py │ │ ├── finger_utils.py │ │ └── impedance_controller.py │ │ ├── trifinger_envs │ │ ├── __init__.py │ │ ├── action.py │ │ ├── cube_reach.py │ │ └── gym_cube_env.py │ │ └── utils │ │ ├── __init__.py │ │ ├── data_utils.py │ │ ├── dataset.py │ │ ├── encoder_model.py │ │ ├── model_utils.py │ │ ├── policy.py │ │ ├── sim_nn.py │ │ ├── tf_test_util.py │ │ └── train_utils.py │ └── tests │ ├── __init__.py │ └── test_tf.py ├── environment.yml ├── res └── img │ ├── cortexbench_overview.png │ └── vc1_teaser.gif ├── tutorial ├── 19749.jpg └── tutorial_vc.ipynb └── vc_models ├── MANIFEST.in ├── README.md ├── setup.py ├── src ├── hydra_plugins │ └── eaif_models_plugin │ │ 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