├── .gitignore ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE.md ├── README.md ├── assets ├── demo_digit.gif ├── tacbench.gif └── teaser.png ├── config ├── data │ ├── digit.yaml │ ├── digit_force.yaml │ ├── digit_pose.yaml │ ├── gelsight.yaml │ ├── gelsight_force.yaml │ ├── gelsight_grasp.yaml │ ├── gelsight_textile.yaml │ └── vision_based.yaml ├── default.yaml ├── experiment │ ├── dino_vit.yaml │ ├── dinov2_vit.yaml │ ├── downstream_task │ │ ├── force │ │ │ ├── digit_dino.yaml │ │ │ ├── digit_dinov2.yaml │ │ │ ├── digit_e2e.yaml │ │ │ ├── digit_ijepa.yaml │ │ │ ├── digit_mae.yaml │ │ │ ├── digit_vjepa.yaml │ │ │ ├── gelsight_dino.yaml │ │ │ ├── gelsight_dinov2.yaml │ │ │ ├── gelsight_e2e.yaml │ │ │ ├── gelsight_ijepa.yaml │ │ │ ├── gelsight_mae.yaml │ │ │ └── gelsight_vjepa.yaml │ │ ├── forcefield │ │ │ ├── digit_dino.yaml │ │ │ ├── digit_e2e.yaml │ │ │ └── gelsight_dino.yaml │ │ ├── grasp │ │ │ ├── gelsight_dino.yaml │ │ │ ├── gelsight_dinov2.yaml │ │ │ ├── gelsight_e2e.yaml │ │ │ ├── gelsight_ijepa.yaml │ │ │ ├── gelsight_mae.yaml │ │ │ └── gelsight_vjepa.yaml │ │ ├── pose │ │ │ ├── digit_dino.yaml │ │ │ ├── digit_dinov2.yaml │ │ │ ├── digit_e2e.yaml │ │ │ ├── digit_ijepa.yaml │ │ │ ├── digit_mae.yaml │ │ │ └── digit_vjepa.yaml │ │ ├── slip │ │ │ ├── digit_dino.yaml │ │ │ ├── digit_dinov2.yaml │ │ │ ├── digit_e2e.yaml │ │ │ ├── digit_ijepa.yaml │ │ │ ├── digit_mae.yaml │ │ │ ├── digit_vjepa.yaml │ │ │ ├── gelsight_dino.yaml │ │ │ ├── gelsight_dinov2.yaml │ │ │ ├── gelsight_e2e.yaml │ │ │ ├── gelsight_ijepa.yaml │ │ │ ├── gelsight_mae.yaml │ │ │ └── gelsight_vjepa.yaml │ │ └── textile │ │ │ ├── gelsight_dino.yaml │ │ │ ├── gelsight_dinov2.yaml │ │ │ ├── gelsight_e2e.yaml │ │ │ ├── gelsight_ijepa.yaml │ │ │ ├── gelsight_mae.yaml │ │ │ └── gelsight_vjepa.yaml │ ├── ijepa_vit.yaml │ ├── mae_vit.yaml │ └── vjepa_vit.yaml ├── model │ ├── dino_vit.yaml │ ├── dinov2_vit.yaml │ ├── ijepa_vit.yaml │ ├── mae_ret.yaml │ ├── mae_vit.yaml │ └── vjepa_vit.yaml ├── paths │ ├── default.yaml │ ├── fair-aws-ch.yaml │ └── fair-aws.yaml ├── task │ ├── digit_forcefield.yaml │ ├── t1_force_estimation.yaml │ ├── t2_slip_detection.yaml │ ├── t3_pose_estimation.yaml │ ├── t4_grasp_stability.yaml │ └── t6_textile_classification.yaml └── wandb │ ├── akash.yaml │ ├── carolina.yaml │ └── gum_rep_learning.yaml ├── demo_forcefield.py ├── environment.yml ├── pyproject.toml ├── scripts ├── download_datasets_scratch │ ├── compress_feeling_success.py │ ├── compress_object_folder.py │ ├── compress_touch_go.py │ ├── download_gelsight_feeling_succes.sh │ ├── download_gelsight_object_folder.sh │ └── download_gelsight_touchgo.sh ├── download_digitv1_dataset.sh ├── download_gelsight_dataset.sh ├── download_gs_object_slide.sh └── slip_labelling.py ├── setup.py ├── submit.sh ├── submit_task.sh ├── tacbench_report.ipynb ├── tactile_ssl ├── algorithm │ ├── __init__.py │ ├── dino.py │ ├── dinov2.py │ ├── ijepa.py │ ├── mae.py │ ├── module.py │ └── vjepa.py ├── data │ ├── digit │ │ └── utils.py │ ├── digit_slip.py │ ├── digit_ycbslide.py │ ├── gelsight_grasp.py │ ├── vision_based_force_probes.py │ ├── vision_based_forces_slip_probes.py │ ├── vision_based_grasp_probes.py │ ├── vision_based_interactive.py │ ├── vision_based_pose_probes.py │ ├── vision_based_slip_probes.py │ ├── vision_based_textile_probes.py │ ├── vision_tactile.py │ └── vision_tactile_forcefield.py ├── downstream_task │ ├── __init__.py │ ├── attentive_pooler.py │ ├── force_sl.py │ ├── forcefield_sl.py │ ├── grasp_sl.py │ ├── pose_sl.py │ ├── sl_module.py │ ├── slip_decoders.py │ ├── slip_sl.py │ ├── textile_sl.py │ └── utils_forcefield │ │ ├── layers │ │ ├── Fusion.py │ │ ├── Head.py │ │ └── Reassemble.py │ │ ├── pose_estimator │ │ ├── PoseEstimator.py │ │ ├── pose_decoder.py │ │ ├── resnet_encoder.py │ │ └── utils.py │ │ ├── ssl_flow_loss.py │ │ └── ssl_utils.py ├── loss │ ├── dino_loss.py │ ├── ibot_patch_loss.py │ └── koleo_loss.py ├── model │ ├── __init__.py │ ├── custom_scheduler.py │ ├── layers │ │ ├── __init__.py │ │ ├── attention.py │ │ ├── block.py │ │ ├── decoder_block.py │ │ ├── dino_head.py │ │ ├── drop_path.py │ │ ├── gumbel_vector_quantizer.py │ │ ├── layer_scale.py │ │ ├── mlp.py │ │ ├── patch_embed.py │ │ └── swiglu_ffn.py │ ├── multimodal_transformer.py │ ├── pretrained.py │ └── vision_transformer.py ├── probe │ ├── __init__.py │ ├── online_probe.py │ └── reconstruction.py ├── test │ ├── __init__.py │ ├── demo_t1_forcefield.py │ ├── test_t1_force.py │ ├── test_t2_slip.py │ ├── test_t3_pose.py │ ├── test_t4_grasp.py │ ├── test_t6_textile.py │ └── test_task.py ├── trainer │ ├── __init__.py │ └── trainer.py └── utils │ ├── __init__.py │ ├── ema.py │ ├── logging.py │ ├── masking.py │ ├── plotting_forces.py │ ├── plotting_utils.py │ ├── signal_connector.py │ └── tensors.py ├── test_task.py ├── train.py └── train_task.py /.gitignore: -------------------------------------------------------------------------------- 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