├── LICENSE ├── README.md ├── bridge_with_digit ├── .gitignore ├── README.md ├── docker-compose.yml ├── generate_usb_config.sh ├── host_install.sh ├── host_install_scripts │ ├── docker_compose_install.sh │ ├── docker_install.sh │ ├── nvidia_docker_install.sh │ ├── ros_install.sh │ └── widowx_install.sh ├── requirements.txt ├── test_utils │ ├── count_progress.py │ ├── plot-mic.py │ ├── read-ip.py │ ├── test-cam.py │ └── test-server.py └── widowx_envs │ ├── Dockerfile │ ├── LICENSE │ ├── README.md │ ├── curr_ip.py │ ├── experiments │ └── bridge_data_v2 │ │ ├── collection_metadata.json │ │ └── conf.py │ ├── multicam_server │ ├── CMakeLists.txt │ ├── launch │ │ ├── cameras.launch │ │ ├── imu_streamer.launch │ │ ├── mic_streamer.launch │ │ ├── overhead_streamer.launch │ │ ├── streamer.launch │ │ └── video_streamer.launch │ ├── package.xml │ ├── setup.py │ └── src │ │ ├── __init__.py │ │ ├── imu_socket_server.py │ │ ├── imu_streamer.py │ │ ├── mic_streamer.py │ │ ├── multicam_server │ │ ├── __init__.py │ │ ├── angle_streamer.py │ │ ├── camera_recorder.py │ │ ├── sensor_recorder.py │ │ └── topic_utils.py │ │ ├── overhead_streamer.py │ │ ├── socket_config.py │ │ ├── start_streamers.py │ │ ├── streamer.py │ │ ├── usb_connector_chart_example.yml │ │ ├── usbreset.c │ │ └── video_socket_streamer.py │ ├── requirements.txt │ ├── scripts │ ├── go_to_neutral_pose.py │ ├── go_to_sleep_pose.py │ ├── run.sh │ └── setup.sh │ ├── setup.py │ ├── widowx_controller │ ├── CMakeLists.txt │ ├── launch │ │ ├── launch.launch │ │ └── widowx_rs.launch │ ├── package.xml │ ├── setup.py │ ├── src │ │ └── widowx_controller │ │ │ ├── __init__.py │ │ │ ├── controller_base.py │ │ │ ├── custom_gripper_controller.py │ │ │ ├── velocity_controller.py │ │ │ ├── vr_controller_client.py │ │ │ ├── vr_controller_server.py │ │ │ └── widowx_controller.py │ └── srv │ │ ├── DisableController.srv │ │ ├── EnableController.srv │ │ ├── GetCartesianPose.srv │ │ ├── GetGripperDesiredState.srv │ │ ├── GetState.srv │ │ ├── GetVRButtons.srv │ │ ├── GotoNeutral.srv │ │ ├── MoveToEEP.srv │ │ ├── MoveToState.srv │ │ ├── OpenGripper.srv │ │ └── SetGripperPosition.srv │ └── widowx_envs │ ├── __init__.py │ ├── base │ ├── base_env.py │ ├── robot_base_env.py │ └── robot_configs.json │ ├── control_loops.py │ ├── policies │ ├── __init__.py │ ├── policy.py │ └── vr_teleop_policy.py │ ├── run_data_collection.py │ ├── teleop.py │ ├── trajectory_collector.py │ ├── utils │ ├── __init__.py │ ├── exceptions.py │ ├── grasp_utils.py │ ├── image_utils.py │ ├── metadata_helper.py │ ├── raw_saver.py │ ├── sync.py │ ├── transformation_utils.py │ └── utils.py │ ├── widowx_env.py │ └── widowx_env_service.py ├── media └── teaser.jpg ├── octo_digit ├── .flake8 ├── .github │ └── workflows │ │ └── pre-commit.yaml ├── .gitignore ├── .pre-commit-config.yaml ├── .python-version ├── LICENSE ├── README.md ├── __init__.py ├── docs │ └── assets │ │ └── teaser.jpg ├── eval │ ├── __init__.py │ ├── compositional_task.py │ ├── decode_config.py │ ├── decode_language.py │ ├── envs │ │ ├── __init__.py │ │ ├── gym_wrappers.py │ │ └── widowx_env.py │ ├── eval_config.py │ ├── eval_requirements.txt │ ├── fuse_compositional_task.py │ ├── fuse_eval.py │ ├── read_eval_logs.py │ ├── read_logs_to_csv.py │ ├── recursive_dict_print.py │ ├── setup.py │ └── utils.py ├── mem_lims.sh ├── octo │ ├── __init__.py │ ├── data │ │ ├── __init__.py │ │ ├── dataset.py │ │ ├── obs_transforms.py │ │ ├── oxe │ │ │ ├── __init__.py │ │ │ ├── oxe_dataset_configs.py │ │ │ ├── oxe_dataset_mixes.py │ │ │ └── oxe_standardization_transforms.py │ │ ├── traj_transforms.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── data_utils.py │ │ │ ├── goal_relabeling.py │ │ │ ├── task_augmentation.py │ │ │ └── text_processing.py │ ├── model │ │ ├── __init__.py │ │ ├── bcz_model.py │ │ ├── bcz_module.py │ │ ├── components │ │ │ ├── __init__.py │ │ │ ├── action_heads.py │ │ │ ├── base.py │ │ │ ├── bcz_action_heads.py │ │ │ ├── bcz_language_reconstruction_heads.py │ │ │ ├── block_transformer.py │ │ │ ├── diffusion.py │ │ │ ├── film_conditioning_layer.py │ │ │ ├── language_reconstruction_heads.py │ │ │ ├── mae_encoder.py │ │ │ ├── t3_vit.py │ │ │ ├── tokenizers.py │ │ │ ├── transformer.py │ │ │ ├── tvl_vit.py │ │ │ ├── unet.py │ │ │ ├── value_heads.py │ │ │ └── vit_encoders.py │ │ ├── octo_model.py │ │ ├── octo_module.py │ │ └── resnet_model.py │ ├── setup.py │ └── utils │ │ ├── __init__.py │ │ ├── fuse_constants.py │ │ ├── fuse_utils.py │ │ ├── gradcam.py │ │ ├── gym_wrappers.py │ │ ├── jax_utils.py │ │ ├── logging_utils.py │ │ ├── spec.py │ │ ├── train_callbacks.py │ │ ├── train_utils.py │ │ ├── typing.py │ │ └── visualization_lib.py ├── pyproject.toml ├── requirements.txt ├── scripts │ ├── configs │ │ ├── config.py │ │ ├── finetune_config.py │ │ ├── fuse_config.py │ │ └── octo_pretrain_config.py │ ├── finetune.py │ ├── finetune_fuse.py │ ├── finetune_fuse_pods.py │ ├── finetune_resnet.py │ ├── save_viz.py │ ├── test_mem.py │ ├── train.py │ └── viz.ipynb └── setup.py └── palivla_digit ├── .gitignore ├── .python-version ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── big_vision ├── __init__.py ├── configs │ ├── __init__.py │ ├── bit_i1k.py │ ├── bit_i21k.py │ ├── common.py │ ├── common_fewshot.py │ ├── load_and_eval.py │ ├── mlp_mixer_i1k.py │ ├── proj │ │ ├── cappa │ │ │ ├── README.md │ │ │ ├── cappa_architecture.png │ │ │ └── pretrain.py │ │ ├── clippo │ │ │ ├── README.md │ │ │ └── train_clippo.py │ │ ├── distill │ │ │ ├── README.md │ │ │ ├── bigsweep_flowers_pet.py │ │ │ ├── bigsweep_food_sun.py │ │ │ ├── bit_i1k.py │ │ │ └── common.py │ │ ├── flexivit │ │ │ ├── README.md │ │ │ ├── i1k_deit3_distill.py │ │ │ ├── i21k_distill.py │ │ │ ├── i21k_sup.py │ │ │ └── timing.py │ │ ├── givt │ │ │ ├── README.md │ │ │ ├── givt_coco_panoptic.py │ │ │ ├── givt_imagenet2012.py │ │ │ ├── givt_nyu_depth.py │ │ │ ├── givt_overview.png │ │ │ ├── vae_coco_panoptic.py │ │ │ └── vae_nyu_depth.py │ │ ├── gsam │ │ │ └── vit_i1k_gsam_no_aug.py │ │ ├── image_text │ │ │ ├── README.md │ │ │ ├── common.py │ │ │ └── siglip_lit_coco.py │ │ ├── paligemma │ │ │ ├── README.md │ │ │ ├── paligemma.png │ │ │ └── transfers │ │ │ │ ├── activitynet_cap.py │ │ │ │ ├── activitynet_qa.py │ │ │ │ ├── ai2d.py │ │ │ │ ├── aokvqa_da.py │ │ │ │ ├── aokvqa_mc.py │ │ │ │ ├── chartqa.py │ │ │ │ ├── coco35l.py │ │ │ │ ├── cococap.py │ │ │ │ ├── common.py │ │ │ │ ├── docvqa.py │ │ │ │ ├── forkme.py │ │ │ │ ├── gqa.py │ │ │ │ ├── infovqa.py │ │ │ │ ├── msrvtt_cap.py │ │ │ │ ├── msrvtt_qa.py │ │ │ │ ├── msvd_qa.py │ │ │ │ ├── nlvr2.py │ │ │ │ ├── ocrvqa.py │ │ │ │ ├── okvqa.py │ │ │ │ ├── pope.py │ │ │ │ ├── refcoco_seg.py │ │ │ │ ├── rsvqa_hr.py │ │ │ │ ├── rsvqa_lr.py │ │ │ │ ├── scicap.py │ │ │ │ ├── science_qa.py │ │ │ │ ├── screen2words.py │ │ │ │ ├── stvqa.py │ │ │ │ ├── tallyqa.py │ │ │ │ ├── textcaps.py │ │ │ │ ├── textvqa.py │ │ │ │ ├── vatex_cap.py │ │ │ │ ├── vertexai_l4.py │ │ │ │ ├── vizwizvqa.py │ │ │ │ ├── vqav2.py │ │ │ │ └── widgetcap.py │ │ ├── reward_tune │ │ │ └── detection_reward.py │ │ ├── scaling_laws │ │ │ └── train_vit_g.py │ │ └── uvim │ │ │ ├── README.md │ │ │ ├── train_coco_panoptic_pretrained.py │ │ │ ├── train_imagenet2012_colorization_pretrained.py │ │ │ ├── train_nyu_depth_pretrained.py │ │ │ ├── vqvae_coco_panoptic.py │ │ │ ├── vqvae_imagenet2012_colorization.py │ │ │ └── vqvae_nyu_depth.py │ ├── transfer.py │ ├── vit_i1k.py │ ├── vit_i21k.py │ └── vit_s16_i1k.py ├── datasets │ ├── ai2d │ │ └── ai2d.py │ ├── aokvqa │ │ └── aokvqa.py │ ├── chartqa │ │ └── chartqa.py │ ├── coco35l │ │ └── coco35l.py │ ├── core.py │ ├── countbenchqa │ │ ├── countbenchqa.py │ │ └── data │ │ │ └── countbench_paired_questions.json │ ├── docvqa │ │ └── docvqa.py │ ├── gqa │ │ └── gqa.py │ ├── imagenet │ │ └── class_names.py │ ├── infovqa │ │ └── infovqa.py │ ├── jsonl.py │ ├── nocaps │ │ └── nocaps.py │ ├── okvqa │ │ └── okvqa.py │ ├── pope │ │ └── pope.py │ ├── refcoco │ │ └── refcoco.py │ ├── rsvqa_hr │ │ └── rsvqa_hr.py │ ├── rsvqa_lr │ │ └── rsvqa_lr.py │ ├── scicap │ │ └── scicap.py │ ├── science_qa │ │ └── science_qa.py │ ├── screen2words │ │ └── screen2words.py │ ├── sequence_packing.py │ ├── stvqa │ │ └── stvqa.py │ ├── tallyqa │ │ └── tallyqa.py │ ├── textcaps │ │ └── textcaps.py │ ├── textvqa │ │ └── textvqa.py │ ├── tfds.py │ ├── vizwizvqa │ │ └── vizwizvqa.py │ ├── vqa │ │ └── vqa.py │ ├── widgetcap │ │ └── widgetcap.py │ ├── xgqa │ │ └── xgqa.py │ └── xm3600 │ │ └── xm3600.py ├── evaluators │ ├── __init__.py │ ├── classification.py │ ├── common.py │ ├── fewshot_lsr.py │ ├── mean.py │ ├── proj │ │ ├── cappa │ │ │ ├── perplexity.py │ │ │ └── scoring_classifier.py │ │ ├── distill │ │ │ └── distance.py │ │ ├── givt │ │ │ ├── coco_panoptic.py │ │ │ ├── nyu_depth.py │ │ │ └── save_predictions.py │ │ ├── image_text │ │ │ ├── contrastive.py │ │ │ ├── discriminative_classifier.py │ │ │ ├── discriminative_classifier_test.py │ │ │ ├── image_text_retrieval.py │ │ │ ├── image_text_retrieval_test.py │ │ │ ├── prompt_engineering.py │ │ │ ├── prompt_engineering_constants.py │ │ │ ├── prompt_engineering_test.py │ │ │ ├── retrieval.py │ │ │ └── retrieval_test.py │ │ ├── paligemma │ │ │ ├── perplexity.py │ │ │ └── transfers │ │ │ │ ├── chartqa.py │ │ │ │ ├── coco_caption.py │ │ │ │ ├── pope.py │ │ │ │ ├── rsvqa.py │ │ │ │ ├── science_qa.py │ │ │ │ ├── segmentation.py │ │ │ │ ├── storepreds.py │ │ │ │ ├── tallyqa.py │ │ │ │ ├── vqa.py │ │ │ │ └── vqav2.py │ │ └── uvim │ │ │ ├── coco_panoptic.py │ │ │ ├── coltran_fid.py │ │ │ ├── coltran_fid_data │ │ │ ├── eval_file_names.txt │ │ │ └── reference_file_names.txt │ │ │ ├── common.py │ │ │ ├── compute_mean.py │ │ │ ├── nyu_depth.py │ │ │ ├── psnr.py │ │ │ └── save_predictions.py │ └── save.py ├── input_pipeline.py ├── models │ ├── __init__.py │ ├── bit.py │ ├── bit_paper.py │ ├── common.py │ ├── mlp_mixer.py │ ├── ppp │ │ ├── __init__.py │ │ └── gemma.py │ ├── proj │ │ ├── cappa │ │ │ └── cappa.py │ │ ├── clippo │ │ │ └── one_tower.py │ │ ├── flaxformer │ │ │ ├── bert.py │ │ │ ├── bert_test.py │ │ │ └── bert_test_util.py │ │ ├── flexi │ │ │ ├── vit.py │ │ │ └── vit_test.py │ │ ├── givt │ │ │ ├── adaptor.py │ │ │ ├── adaptor_test.py │ │ │ ├── cnn.py │ │ │ ├── decode.py │ │ │ ├── decode_test.py │ │ │ ├── givt.py │ │ │ ├── givt_test.py │ │ │ ├── parallel_decode.py │ │ │ ├── parallel_decode_test.py │ │ │ ├── vae.py │ │ │ └── vit.py │ │ ├── image_text │ │ │ ├── text_transformer.py │ │ │ └── two_towers.py │ │ ├── paligemma │ │ │ ├── gemma_bv.py │ │ │ └── paligemma.py │ │ └── uvim │ │ │ ├── decode.py │ │ │ ├── vit.py │ │ │ ├── vit_test.py │ │ │ ├── vtt.py │ │ │ └── vtt_test.py │ └── vit.py ├── optax.py ├── optax_test.py ├── pp │ ├── __init__.py │ ├── archive │ │ ├── __init__.py │ │ ├── autoaugment.py │ │ └── randaug.py │ ├── autoaugment.py │ ├── builder.py │ ├── builder_test.py │ ├── ops_general.py │ ├── ops_general_test.py │ ├── ops_image.py │ ├── ops_image_test.py │ ├── ops_text.py │ ├── ops_text_test.py │ ├── proj │ │ ├── clippo │ │ │ ├── download_unifont.sh │ │ │ └── pp_ops.py │ │ ├── flaxformer │ │ │ ├── bert_ops.py │ │ │ └── bert_ops_test.py │ │ ├── givt │ │ │ └── pp_ops.py │ │ ├── paligemma │ │ │ ├── ops.py │ │ │ ├── robustness.py │ │ │ ├── sciqa_ops.py │ │ │ ├── segmentation.py │ │ │ ├── video.py │ │ │ └── widgetcap.py │ │ └── uvim │ │ │ ├── pp_ops.py │ │ │ └── pp_ops_test.py │ ├── registry.py │ ├── registry_test.py │ ├── tokenizer.py │ ├── utils.py │ └── utils_test.py ├── requirements.txt ├── run_tpu.sh ├── sharding.py ├── tools │ ├── download_tfds_datasets.py │ ├── eval_only.py │ └── lit_demo │ │ ├── README.md │ │ ├── build.js │ │ ├── package.json │ │ └── src │ │ ├── app.ts │ │ ├── components │ │ ├── image-carousel.scss │ │ ├── image-carousel.ts │ │ ├── image-prompts.scss │ │ ├── image-prompts.ts │ │ ├── lit-demo-app.scss │ │ ├── lit-demo-app.ts │ │ ├── loading-animation.scss │ │ ├── loading-animation.ts │ │ ├── message-list.scss │ │ ├── message-list.ts │ │ ├── model-controls.scss │ │ └── model-controls.ts │ │ ├── exports.ts │ │ ├── index.html │ │ ├── lit_demo │ │ ├── app.ts │ │ ├── compute.ts │ │ ├── constants.ts │ │ ├── data.ts │ │ └── url_utils.ts │ │ ├── playground.html │ │ ├── style.scss │ │ ├── style │ │ ├── colors.scss │ │ └── mixins.scss │ │ ├── tokenizers │ │ ├── common.ts │ │ ├── index.ts │ │ ├── sentencepiece_bpe.ts │ │ ├── sentencepiece_bpe_test.ts │ │ ├── sentencepiece_unigram.ts │ │ ├── sentencepiece_unigram_test.ts │ │ └── trie.ts │ │ └── tsconfig.json ├── train.py ├── trainers │ └── proj │ │ ├── cappa │ │ ├── generative.py │ │ └── predict_fns.py │ │ ├── distill │ │ └── distill.py │ │ ├── flexi │ │ ├── common.py │ │ ├── distill.py │ │ └── train.py │ │ ├── givt │ │ ├── generative.py │ │ ├── utils.py │ │ └── vae.py │ │ ├── gsam │ │ ├── gsam.py │ │ └── train.py │ │ ├── image_text │ │ ├── _deprecated_contrastive.py │ │ └── siglip.py │ │ ├── paligemma │ │ ├── predict_fns.py │ │ ├── run.py │ │ └── train.py │ │ └── uvim │ │ ├── coco_utils.py │ │ ├── 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