├── .gitignore ├── CHANGELOG.md ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE.md ├── README.md ├── assets ├── metahand │ ├── meshes │ │ ├── base_link.obj │ │ ├── base_link_left.obj │ │ ├── digit.blend │ │ ├── digit.dae │ │ ├── digit.obj │ │ ├── digit.stl │ │ ├── digit_v1_fingertip_pad.obj │ │ ├── digitv2.blend │ │ ├── digitv2.dae │ │ ├── digitv2.obj │ │ ├── digitv2.stl │ │ ├── link_0.0.obj │ │ ├── link_1.0.obj │ │ ├── link_12.0_left.obj │ │ ├── link_12.0_right.obj │ │ ├── link_13.0.obj │ │ ├── link_14.0.obj │ │ ├── link_15.0.obj │ │ ├── link_15.0_tip.obj │ │ ├── link_2.0.obj │ │ ├── link_3.0.obj │ │ ├── link_3.0_tip.obj │ │ ├── link_4.0.obj │ │ ├── rainbow_digit.PNG │ │ ├── rainbow_digitv2.PNG │ │ ├── reskin_finger_pad.obj │ │ ├── reskin_finger_pad.stl │ │ ├── reskin_palm_pad.obj │ │ └── reskin_palm_pad.stl │ ├── meta_hand_description │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ └── test_hand.launch │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link_left.STL │ │ │ ├── digit.blend │ │ │ ├── digit.dae │ │ │ ├── digit.obj │ │ │ ├── digit.stl │ │ │ ├── digitv2.blend │ │ │ ├── digitv2.dae │ │ │ ├── digitv2.obj │ │ │ ├── digitv2.stl │ │ │ ├── link_0.0.STL │ │ │ ├── link_1.0.STL │ │ │ ├── link_12.0_left.STL │ │ │ ├── link_12.0_right.STL │ │ │ ├── link_13.0.STL │ │ │ ├── link_14.0.STL │ │ │ ├── link_15.0.STL │ │ │ ├── link_15.0_tip.STL │ │ │ ├── link_2.0.STL │ │ │ ├── link_3.0.STL │ │ │ ├── link_3.0_tip.STL │ │ │ ├── link_4.0.STL │ │ │ ├── rainbow_digit.PNG │ │ │ ├── rainbow_digitv2.PNG │ │ │ ├── reskin_finger_pad.stl │ │ │ └── reskin_palm_pad.stl │ │ ├── package.xml │ │ ├── robots │ │ │ ├── allegro_hand.urdf.xacro │ │ │ └── meta_hand.urdf.xacro │ │ └── rviz │ │ │ └── meta_hand.rviz │ ├── meta_hand_franka.urdf │ ├── meta_hand_left.urdf │ ├── meta_hand_right.urdf │ └── meta_hand_right_digit.urdf ├── readme │ ├── readme_fig1.jpeg │ ├── readme_fig2.png │ └── xela_dataset.png └── xela │ ├── mesh │ ├── 1x6.stl │ ├── 4x4.stl │ ├── 4x6.stl │ ├── allegro │ │ ├── ahft_default.STL │ │ ├── base.stl │ │ ├── base_ns.stl │ │ ├── link_0.0.STL │ │ ├── link_0.0_ext.STL │ │ ├── link_1.0.stl │ │ ├── link_12.0_right.STL │ │ ├── link_13.0.STL │ │ ├── link_1_cover.stl │ │ ├── link_2.0.stl │ │ ├── link_2_cover.stl │ │ ├── link_3.0.STL │ │ ├── link_3.0_ext.STL │ │ ├── thumb_1.0.stl │ │ ├── thumb_1_cover.stl │ │ ├── thumb_2.0.stl │ │ └── thumb_2_cover.stl │ ├── ft_c.stl │ └── ft_f.stl │ └── urdf │ ├── 1x6.xacro │ ├── 4x4.urdf │ ├── 4x4.xacro │ ├── 4x6.xacro │ ├── aftc.xacro │ ├── aftf.xacro │ ├── ahrcpcpn.urdf │ ├── allegro_hand_right.xacro │ ├── taxel.xacro │ └── xela.xacro ├── config ├── algorithm │ ├── d360_dino.yaml │ ├── xela_byol.yaml │ ├── xela_dinov2.yaml │ └── xela_mae.yaml ├── data │ ├── byol.yaml │ ├── d360.yaml │ ├── d360_classification_gs.yaml │ ├── d360_contact_gs.yaml │ ├── d360_gs.yaml │ ├── xela.yaml │ ├── xela_force.yaml │ ├── xela_joystick_control.yaml │ └── xela_relative_pose.yaml ├── default.yaml ├── default_task.yaml ├── encoder │ ├── digit360_sparshx.yaml │ └── xela_sparshskin.yaml ├── experiment │ ├── d360 │ │ ├── dino.yaml │ │ └── downstream_task │ │ │ ├── classification │ │ │ ├── dino.yaml │ │ │ └── e2e.yaml │ │ │ └── force │ │ │ ├── dino.yaml │ │ │ └── e2e.yaml │ └── xela │ │ ├── byol.yaml │ │ ├── dinov2.yaml │ │ ├── mae.yaml │ │ └── task │ │ ├── force │ │ ├── dinov2.yaml │ │ ├── e2e.yaml │ │ ├── finetune.yaml │ │ └── mae.yaml │ │ ├── joystick_control │ │ ├── dinov2.yaml │ │ ├── e2e.yaml │ │ └── finetune.yaml │ │ └── relative_pose_estimation │ │ ├── dinov2.yaml │ │ ├── e2e.yaml │ │ ├── finetune.yaml │ │ └── mae.yaml ├── paths │ └── default.yaml ├── task │ ├── d360_t1_force_estimation.yaml │ ├── d360_t2_classification.yaml │ ├── xela_force_estimation.yaml │ ├── xela_joystick_control.yaml │ └── xela_relative_pose.yaml └── wandb │ └── wandb_config.yaml ├── environment.yml ├── inference.py ├── local_env.sh ├── scripts ├── d360 │ ├── extract_images.py │ ├── mcap2pickle.py │ ├── mcap_utils.py │ ├── policy_dataset_utils.py │ ├── sparsh_ros2_node │ │ ├── README.md │ │ ├── run_sparsh_input_nodes.sh │ │ ├── sparsh_d360_input_node.py │ │ └── utils.py │ └── submit │ │ └── train_insertion_policy.sh └── xela │ ├── convertbag2dataset.py │ ├── generate_policy_dataset.py │ ├── submit │ ├── train.sh │ ├── train_insertion_policy.sh │ └── train_task.sh │ ├── visualize_sparshskin_umap.ipynb │ └── xela_ros2_node │ └── README.md ├── setup.cfg ├── setup.py ├── tactile_ssl ├── __init__.py ├── algorithm │ ├── __init__.py │ ├── byol.py │ ├── d360_dino.py │ ├── dinov2.py │ ├── mae.py │ ├── module.py │ ├── multimodal_dino.py │ ├── xela_dinov2.py │ └── xela_mae.py ├── build_encoder.py ├── data │ ├── d360 │ │ ├── __init__.py │ │ ├── d360.py │ │ └── utils.py │ ├── d360_tactile.py │ ├── xela │ │ ├── utils.py │ │ └── visualizer.py │ ├── xela_force.py │ ├── xela_joystick_control.py │ ├── xela_pose_estimation.py │ ├── xela_tactile.py │ ├── xela_tactile_tdex.py │ ├── xela_tdex │ │ ├── __init__.py │ │ └── utils.py │ └── xela_tdex_tactile.py ├── downstream_task │ ├── __init__.py │ ├── attentive_pooler.py │ ├── classification_sl.py │ ├── d360_sl.py │ ├── force_sl.py │ ├── joystick_dir.py │ ├── readme.md │ ├── sl_module.py │ └── xela_relativepose.py ├── loss │ ├── dino_loss.py │ ├── ibot_patch_loss.py │ └── koleo_loss.py ├── model │ ├── __init__.py │ ├── custom_scheduler.py │ ├── d360_transformer.py │ ├── layers │ │ ├── __init__.py │ │ ├── attention.py │ │ ├── block.py │ │ ├── decoder_block.py │ │ ├── dino_head.py │ │ ├── drop_path.py │ │ ├── layer_scale.py │ │ ├── mlp.py │ │ ├── patch_embed.py │ │ ├── swiglu_ffn.py │ │ └── utils.py │ ├── multimodal_transformer.py │ ├── signal_transformer.py │ └── xela_transformer.py ├── probe │ ├── __init__.py │ ├── classification.py │ ├── online_probe.py │ └── reconstruction.py ├── trainer │ ├── __init__.py │ └── trainer.py └── utils │ ├── __init__.py │ ├── combined_dataset.py │ ├── ema.py │ ├── glove │ └── vrs.py │ ├── interp_rotation.py │ ├── logging.py │ ├── masking.py │ ├── plotting_forces.py │ ├── plotting_utils.py │ ├── signal_connector.py │ └── tensors.py ├── train.py ├── train_task.py └── wandb ├── debug-cli.carohiguera.log └── settings /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/.gitignore -------------------------------------------------------------------------------- /CHANGELOG.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/CHANGELOG.md -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/CODE_OF_CONDUCT.md -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/CONTRIBUTING.md -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/LICENSE.md -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/README.md -------------------------------------------------------------------------------- /assets/metahand/meshes/base_link.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/base_link.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/base_link_left.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/base_link_left.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/digit.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/digit.blend -------------------------------------------------------------------------------- /assets/metahand/meshes/digit.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/digit.dae -------------------------------------------------------------------------------- /assets/metahand/meshes/digit.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/digit.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/digit.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/digit.stl -------------------------------------------------------------------------------- /assets/metahand/meshes/digit_v1_fingertip_pad.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/digit_v1_fingertip_pad.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/digitv2.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/digitv2.blend -------------------------------------------------------------------------------- /assets/metahand/meshes/digitv2.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/digitv2.dae -------------------------------------------------------------------------------- /assets/metahand/meshes/digitv2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/digitv2.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/digitv2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/digitv2.stl -------------------------------------------------------------------------------- /assets/metahand/meshes/link_0.0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_0.0.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/link_1.0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_1.0.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/link_12.0_left.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_12.0_left.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/link_12.0_right.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_12.0_right.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/link_13.0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_13.0.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/link_14.0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_14.0.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/link_15.0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_15.0.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/link_15.0_tip.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_15.0_tip.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/link_2.0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_2.0.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/link_3.0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_3.0.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/link_3.0_tip.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_3.0_tip.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/link_4.0.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/link_4.0.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/rainbow_digit.PNG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/rainbow_digit.PNG -------------------------------------------------------------------------------- /assets/metahand/meshes/rainbow_digitv2.PNG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/rainbow_digitv2.PNG -------------------------------------------------------------------------------- /assets/metahand/meshes/reskin_finger_pad.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/reskin_finger_pad.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/reskin_finger_pad.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/reskin_finger_pad.stl -------------------------------------------------------------------------------- /assets/metahand/meshes/reskin_palm_pad.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/reskin_palm_pad.obj -------------------------------------------------------------------------------- /assets/metahand/meshes/reskin_palm_pad.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meshes/reskin_palm_pad.stl -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/CMakeLists.txt -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/README.md -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/launch/test_hand.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/launch/test_hand.launch -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/base_link.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/base_link.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/base_link_left.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/base_link_left.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/digit.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/digit.blend -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/digit.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/digit.dae -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/digit.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/digit.obj -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/digit.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/digit.stl -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/digitv2.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/digitv2.blend -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/digitv2.dae: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/digitv2.dae -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/digitv2.obj: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/digitv2.obj -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/digitv2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/digitv2.stl -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_0.0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_0.0.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_1.0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_1.0.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_12.0_left.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_12.0_left.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_12.0_right.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_12.0_right.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_13.0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_13.0.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_14.0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_14.0.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_15.0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_15.0.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_15.0_tip.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_15.0_tip.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_2.0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_2.0.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_3.0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_3.0.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_3.0_tip.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_3.0_tip.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/link_4.0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/link_4.0.STL -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/rainbow_digit.PNG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/rainbow_digit.PNG -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/rainbow_digitv2.PNG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/rainbow_digitv2.PNG -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/reskin_finger_pad.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/reskin_finger_pad.stl -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/meshes/reskin_palm_pad.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/meshes/reskin_palm_pad.stl -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/package.xml -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/robots/allegro_hand.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/robots/allegro_hand.urdf.xacro -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/robots/meta_hand.urdf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/robots/meta_hand.urdf.xacro -------------------------------------------------------------------------------- /assets/metahand/meta_hand_description/rviz/meta_hand.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_description/rviz/meta_hand.rviz -------------------------------------------------------------------------------- /assets/metahand/meta_hand_franka.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_franka.urdf -------------------------------------------------------------------------------- /assets/metahand/meta_hand_left.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_left.urdf -------------------------------------------------------------------------------- /assets/metahand/meta_hand_right.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_right.urdf -------------------------------------------------------------------------------- /assets/metahand/meta_hand_right_digit.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/metahand/meta_hand_right_digit.urdf -------------------------------------------------------------------------------- /assets/readme/readme_fig1.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/readme/readme_fig1.jpeg -------------------------------------------------------------------------------- /assets/readme/readme_fig2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/readme/readme_fig2.png -------------------------------------------------------------------------------- /assets/readme/xela_dataset.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/readme/xela_dataset.png -------------------------------------------------------------------------------- /assets/xela/mesh/1x6.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/1x6.stl -------------------------------------------------------------------------------- /assets/xela/mesh/4x4.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/4x4.stl -------------------------------------------------------------------------------- /assets/xela/mesh/4x6.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/4x6.stl -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/ahft_default.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/ahft_default.STL -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/base.stl -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/base_ns.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/base_ns.stl -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/link_0.0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/link_0.0.STL -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/link_0.0_ext.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/link_0.0_ext.STL -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/link_1.0.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/link_1.0.stl -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/link_12.0_right.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/link_12.0_right.STL -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/link_13.0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/link_13.0.STL -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/link_1_cover.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/link_1_cover.stl -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/link_2.0.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/link_2.0.stl -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/link_2_cover.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/link_2_cover.stl -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/link_3.0.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/link_3.0.STL -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/link_3.0_ext.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/link_3.0_ext.STL -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/thumb_1.0.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/thumb_1.0.stl -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/thumb_1_cover.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/thumb_1_cover.stl -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/thumb_2.0.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/thumb_2.0.stl -------------------------------------------------------------------------------- /assets/xela/mesh/allegro/thumb_2_cover.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/allegro/thumb_2_cover.stl -------------------------------------------------------------------------------- /assets/xela/mesh/ft_c.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/ft_c.stl -------------------------------------------------------------------------------- /assets/xela/mesh/ft_f.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/mesh/ft_f.stl -------------------------------------------------------------------------------- /assets/xela/urdf/1x6.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/urdf/1x6.xacro -------------------------------------------------------------------------------- /assets/xela/urdf/4x4.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/urdf/4x4.urdf -------------------------------------------------------------------------------- /assets/xela/urdf/4x4.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/urdf/4x4.xacro -------------------------------------------------------------------------------- /assets/xela/urdf/4x6.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/urdf/4x6.xacro -------------------------------------------------------------------------------- /assets/xela/urdf/aftc.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/urdf/aftc.xacro -------------------------------------------------------------------------------- /assets/xela/urdf/aftf.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/urdf/aftf.xacro -------------------------------------------------------------------------------- /assets/xela/urdf/ahrcpcpn.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/urdf/ahrcpcpn.urdf -------------------------------------------------------------------------------- /assets/xela/urdf/allegro_hand_right.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/urdf/allegro_hand_right.xacro -------------------------------------------------------------------------------- /assets/xela/urdf/taxel.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/urdf/taxel.xacro -------------------------------------------------------------------------------- /assets/xela/urdf/xela.xacro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/assets/xela/urdf/xela.xacro -------------------------------------------------------------------------------- /config/algorithm/d360_dino.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/algorithm/d360_dino.yaml -------------------------------------------------------------------------------- /config/algorithm/xela_byol.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/algorithm/xela_byol.yaml -------------------------------------------------------------------------------- /config/algorithm/xela_dinov2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/algorithm/xela_dinov2.yaml -------------------------------------------------------------------------------- /config/algorithm/xela_mae.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/algorithm/xela_mae.yaml -------------------------------------------------------------------------------- /config/data/byol.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/data/byol.yaml -------------------------------------------------------------------------------- /config/data/d360.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/data/d360.yaml -------------------------------------------------------------------------------- /config/data/d360_classification_gs.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/data/d360_classification_gs.yaml -------------------------------------------------------------------------------- /config/data/d360_contact_gs.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/data/d360_contact_gs.yaml -------------------------------------------------------------------------------- /config/data/d360_gs.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/data/d360_gs.yaml -------------------------------------------------------------------------------- /config/data/xela.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/data/xela.yaml -------------------------------------------------------------------------------- /config/data/xela_force.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/data/xela_force.yaml -------------------------------------------------------------------------------- /config/data/xela_joystick_control.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/data/xela_joystick_control.yaml -------------------------------------------------------------------------------- /config/data/xela_relative_pose.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/data/xela_relative_pose.yaml -------------------------------------------------------------------------------- /config/default.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/default.yaml -------------------------------------------------------------------------------- /config/default_task.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/default_task.yaml -------------------------------------------------------------------------------- /config/encoder/digit360_sparshx.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/encoder/digit360_sparshx.yaml -------------------------------------------------------------------------------- /config/encoder/xela_sparshskin.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/encoder/xela_sparshskin.yaml -------------------------------------------------------------------------------- /config/experiment/d360/dino.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/d360/dino.yaml -------------------------------------------------------------------------------- /config/experiment/d360/downstream_task/classification/dino.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/d360/downstream_task/classification/dino.yaml -------------------------------------------------------------------------------- /config/experiment/d360/downstream_task/classification/e2e.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/d360/downstream_task/classification/e2e.yaml -------------------------------------------------------------------------------- /config/experiment/d360/downstream_task/force/dino.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/d360/downstream_task/force/dino.yaml -------------------------------------------------------------------------------- /config/experiment/d360/downstream_task/force/e2e.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/d360/downstream_task/force/e2e.yaml -------------------------------------------------------------------------------- /config/experiment/xela/byol.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/byol.yaml -------------------------------------------------------------------------------- /config/experiment/xela/dinov2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/dinov2.yaml -------------------------------------------------------------------------------- /config/experiment/xela/mae.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/mae.yaml -------------------------------------------------------------------------------- /config/experiment/xela/task/force/dinov2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/task/force/dinov2.yaml -------------------------------------------------------------------------------- /config/experiment/xela/task/force/e2e.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/task/force/e2e.yaml -------------------------------------------------------------------------------- /config/experiment/xela/task/force/finetune.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/task/force/finetune.yaml -------------------------------------------------------------------------------- /config/experiment/xela/task/force/mae.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/task/force/mae.yaml -------------------------------------------------------------------------------- /config/experiment/xela/task/joystick_control/dinov2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/task/joystick_control/dinov2.yaml -------------------------------------------------------------------------------- /config/experiment/xela/task/joystick_control/e2e.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/task/joystick_control/e2e.yaml -------------------------------------------------------------------------------- /config/experiment/xela/task/joystick_control/finetune.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/task/joystick_control/finetune.yaml -------------------------------------------------------------------------------- /config/experiment/xela/task/relative_pose_estimation/dinov2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/task/relative_pose_estimation/dinov2.yaml -------------------------------------------------------------------------------- /config/experiment/xela/task/relative_pose_estimation/e2e.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/task/relative_pose_estimation/e2e.yaml -------------------------------------------------------------------------------- /config/experiment/xela/task/relative_pose_estimation/finetune.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/task/relative_pose_estimation/finetune.yaml -------------------------------------------------------------------------------- /config/experiment/xela/task/relative_pose_estimation/mae.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/experiment/xela/task/relative_pose_estimation/mae.yaml -------------------------------------------------------------------------------- /config/paths/default.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/paths/default.yaml -------------------------------------------------------------------------------- /config/task/d360_t1_force_estimation.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/task/d360_t1_force_estimation.yaml -------------------------------------------------------------------------------- /config/task/d360_t2_classification.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/task/d360_t2_classification.yaml -------------------------------------------------------------------------------- /config/task/xela_force_estimation.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/task/xela_force_estimation.yaml -------------------------------------------------------------------------------- /config/task/xela_joystick_control.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/task/xela_joystick_control.yaml -------------------------------------------------------------------------------- /config/task/xela_relative_pose.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/task/xela_relative_pose.yaml -------------------------------------------------------------------------------- /config/wandb/wandb_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/config/wandb/wandb_config.yaml -------------------------------------------------------------------------------- /environment.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/environment.yml -------------------------------------------------------------------------------- /inference.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/inference.py -------------------------------------------------------------------------------- /local_env.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/local_env.sh -------------------------------------------------------------------------------- /scripts/d360/extract_images.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/d360/extract_images.py -------------------------------------------------------------------------------- /scripts/d360/mcap2pickle.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/d360/mcap2pickle.py -------------------------------------------------------------------------------- /scripts/d360/mcap_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/d360/mcap_utils.py -------------------------------------------------------------------------------- /scripts/d360/policy_dataset_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/d360/policy_dataset_utils.py -------------------------------------------------------------------------------- /scripts/d360/sparsh_ros2_node/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/d360/sparsh_ros2_node/README.md -------------------------------------------------------------------------------- /scripts/d360/sparsh_ros2_node/run_sparsh_input_nodes.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/d360/sparsh_ros2_node/run_sparsh_input_nodes.sh -------------------------------------------------------------------------------- /scripts/d360/sparsh_ros2_node/sparsh_d360_input_node.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/d360/sparsh_ros2_node/sparsh_d360_input_node.py -------------------------------------------------------------------------------- /scripts/d360/sparsh_ros2_node/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/d360/sparsh_ros2_node/utils.py -------------------------------------------------------------------------------- /scripts/d360/submit/train_insertion_policy.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/d360/submit/train_insertion_policy.sh -------------------------------------------------------------------------------- /scripts/xela/convertbag2dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/xela/convertbag2dataset.py -------------------------------------------------------------------------------- /scripts/xela/generate_policy_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/xela/generate_policy_dataset.py -------------------------------------------------------------------------------- /scripts/xela/submit/train.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/xela/submit/train.sh -------------------------------------------------------------------------------- /scripts/xela/submit/train_insertion_policy.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/xela/submit/train_insertion_policy.sh -------------------------------------------------------------------------------- /scripts/xela/submit/train_task.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/xela/submit/train_task.sh -------------------------------------------------------------------------------- /scripts/xela/visualize_sparshskin_umap.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/xela/visualize_sparshskin_umap.ipynb -------------------------------------------------------------------------------- /scripts/xela/xela_ros2_node/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/scripts/xela/xela_ros2_node/README.md -------------------------------------------------------------------------------- /setup.cfg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/setup.cfg -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/setup.py -------------------------------------------------------------------------------- /tactile_ssl/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /tactile_ssl/algorithm/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/algorithm/__init__.py -------------------------------------------------------------------------------- /tactile_ssl/algorithm/byol.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/algorithm/byol.py -------------------------------------------------------------------------------- /tactile_ssl/algorithm/d360_dino.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/algorithm/d360_dino.py -------------------------------------------------------------------------------- /tactile_ssl/algorithm/dinov2.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/algorithm/dinov2.py -------------------------------------------------------------------------------- /tactile_ssl/algorithm/mae.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/algorithm/mae.py -------------------------------------------------------------------------------- /tactile_ssl/algorithm/module.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/algorithm/module.py -------------------------------------------------------------------------------- /tactile_ssl/algorithm/multimodal_dino.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/algorithm/multimodal_dino.py -------------------------------------------------------------------------------- /tactile_ssl/algorithm/xela_dinov2.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/algorithm/xela_dinov2.py -------------------------------------------------------------------------------- /tactile_ssl/algorithm/xela_mae.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/algorithm/xela_mae.py -------------------------------------------------------------------------------- /tactile_ssl/build_encoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/build_encoder.py -------------------------------------------------------------------------------- /tactile_ssl/data/d360/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /tactile_ssl/data/d360/d360.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/d360/d360.py -------------------------------------------------------------------------------- /tactile_ssl/data/d360/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/d360/utils.py -------------------------------------------------------------------------------- /tactile_ssl/data/d360_tactile.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/d360_tactile.py -------------------------------------------------------------------------------- /tactile_ssl/data/xela/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/xela/utils.py -------------------------------------------------------------------------------- /tactile_ssl/data/xela/visualizer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/xela/visualizer.py -------------------------------------------------------------------------------- /tactile_ssl/data/xela_force.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/xela_force.py -------------------------------------------------------------------------------- /tactile_ssl/data/xela_joystick_control.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/xela_joystick_control.py -------------------------------------------------------------------------------- /tactile_ssl/data/xela_pose_estimation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/xela_pose_estimation.py -------------------------------------------------------------------------------- /tactile_ssl/data/xela_tactile.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/xela_tactile.py -------------------------------------------------------------------------------- /tactile_ssl/data/xela_tactile_tdex.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/xela_tactile_tdex.py -------------------------------------------------------------------------------- /tactile_ssl/data/xela_tdex/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /tactile_ssl/data/xela_tdex/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/xela_tdex/utils.py -------------------------------------------------------------------------------- /tactile_ssl/data/xela_tdex_tactile.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/data/xela_tdex_tactile.py -------------------------------------------------------------------------------- /tactile_ssl/downstream_task/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/downstream_task/__init__.py -------------------------------------------------------------------------------- /tactile_ssl/downstream_task/attentive_pooler.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/downstream_task/attentive_pooler.py -------------------------------------------------------------------------------- /tactile_ssl/downstream_task/classification_sl.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/downstream_task/classification_sl.py -------------------------------------------------------------------------------- /tactile_ssl/downstream_task/d360_sl.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/downstream_task/d360_sl.py -------------------------------------------------------------------------------- /tactile_ssl/downstream_task/force_sl.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/downstream_task/force_sl.py -------------------------------------------------------------------------------- /tactile_ssl/downstream_task/joystick_dir.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/downstream_task/joystick_dir.py -------------------------------------------------------------------------------- /tactile_ssl/downstream_task/readme.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/downstream_task/readme.md -------------------------------------------------------------------------------- /tactile_ssl/downstream_task/sl_module.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/downstream_task/sl_module.py -------------------------------------------------------------------------------- /tactile_ssl/downstream_task/xela_relativepose.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/downstream_task/xela_relativepose.py -------------------------------------------------------------------------------- /tactile_ssl/loss/dino_loss.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/loss/dino_loss.py -------------------------------------------------------------------------------- /tactile_ssl/loss/ibot_patch_loss.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/loss/ibot_patch_loss.py -------------------------------------------------------------------------------- /tactile_ssl/loss/koleo_loss.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/loss/koleo_loss.py -------------------------------------------------------------------------------- /tactile_ssl/model/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/__init__.py -------------------------------------------------------------------------------- /tactile_ssl/model/custom_scheduler.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/custom_scheduler.py -------------------------------------------------------------------------------- /tactile_ssl/model/d360_transformer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/d360_transformer.py -------------------------------------------------------------------------------- /tactile_ssl/model/layers/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/layers/__init__.py -------------------------------------------------------------------------------- /tactile_ssl/model/layers/attention.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/layers/attention.py -------------------------------------------------------------------------------- /tactile_ssl/model/layers/block.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/layers/block.py -------------------------------------------------------------------------------- /tactile_ssl/model/layers/decoder_block.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/layers/decoder_block.py -------------------------------------------------------------------------------- /tactile_ssl/model/layers/dino_head.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/layers/dino_head.py -------------------------------------------------------------------------------- /tactile_ssl/model/layers/drop_path.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/layers/drop_path.py -------------------------------------------------------------------------------- /tactile_ssl/model/layers/layer_scale.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/layers/layer_scale.py -------------------------------------------------------------------------------- /tactile_ssl/model/layers/mlp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/layers/mlp.py -------------------------------------------------------------------------------- /tactile_ssl/model/layers/patch_embed.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/layers/patch_embed.py -------------------------------------------------------------------------------- /tactile_ssl/model/layers/swiglu_ffn.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/layers/swiglu_ffn.py -------------------------------------------------------------------------------- /tactile_ssl/model/layers/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/layers/utils.py -------------------------------------------------------------------------------- /tactile_ssl/model/multimodal_transformer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/multimodal_transformer.py -------------------------------------------------------------------------------- /tactile_ssl/model/signal_transformer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/signal_transformer.py -------------------------------------------------------------------------------- /tactile_ssl/model/xela_transformer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/model/xela_transformer.py -------------------------------------------------------------------------------- /tactile_ssl/probe/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/probe/__init__.py -------------------------------------------------------------------------------- /tactile_ssl/probe/classification.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/probe/classification.py -------------------------------------------------------------------------------- /tactile_ssl/probe/online_probe.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/probe/online_probe.py -------------------------------------------------------------------------------- /tactile_ssl/probe/reconstruction.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/probe/reconstruction.py -------------------------------------------------------------------------------- /tactile_ssl/trainer/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/trainer/__init__.py -------------------------------------------------------------------------------- /tactile_ssl/trainer/trainer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/trainer/trainer.py -------------------------------------------------------------------------------- /tactile_ssl/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/utils/__init__.py -------------------------------------------------------------------------------- /tactile_ssl/utils/combined_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/utils/combined_dataset.py -------------------------------------------------------------------------------- /tactile_ssl/utils/ema.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/utils/ema.py -------------------------------------------------------------------------------- /tactile_ssl/utils/glove/vrs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/utils/glove/vrs.py -------------------------------------------------------------------------------- /tactile_ssl/utils/interp_rotation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/utils/interp_rotation.py -------------------------------------------------------------------------------- /tactile_ssl/utils/logging.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/utils/logging.py -------------------------------------------------------------------------------- /tactile_ssl/utils/masking.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/utils/masking.py -------------------------------------------------------------------------------- /tactile_ssl/utils/plotting_forces.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/utils/plotting_forces.py -------------------------------------------------------------------------------- /tactile_ssl/utils/plotting_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/utils/plotting_utils.py -------------------------------------------------------------------------------- /tactile_ssl/utils/signal_connector.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/utils/signal_connector.py -------------------------------------------------------------------------------- /tactile_ssl/utils/tensors.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/tactile_ssl/utils/tensors.py -------------------------------------------------------------------------------- /train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/train.py -------------------------------------------------------------------------------- /train_task.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/facebookresearch/sparsh-multisensory-touch/HEAD/train_task.py -------------------------------------------------------------------------------- /wandb/debug-cli.carohiguera.log: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /wandb/settings: -------------------------------------------------------------------------------- 1 | [default] 2 | mode = disabled 3 | 4 | --------------------------------------------------------------------------------