├── .gitignore ├── LICENSE ├── README.md ├── displacementae ├── __init__.py ├── autoencoder │ ├── README.rst │ ├── __init__.py │ ├── train_args.py │ ├── train_block_rots_repr.py │ ├── train_prodrepr.py │ └── train_utils.py ├── data │ ├── __init__.py │ ├── armeye.py │ ├── data_utils.py │ ├── dataset3d.py │ ├── dsprites.py │ ├── exp.ipynb │ ├── gen_trajs.py │ ├── hdf5dataset.py │ ├── obj3d │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── bunny.obj │ │ │ └── teapot.obj │ │ ├── collect_data.py │ │ ├── gen_args.py │ │ ├── generate_data.py │ │ ├── generate_dataset_mju.py │ │ └── world_model.py │ ├── obj3d_dataset.py │ ├── obj3d_supervised_dset.py │ ├── trajs.py │ └── transition_dataset.py ├── grouprepr │ ├── __init__.py │ ├── block_lookup_representation.py │ ├── block_mlp_representation.py │ ├── blockrots │ │ ├── __init__.py │ │ └── orthogonal.py │ ├── group_representation.py │ ├── lookup_representation.py │ ├── mlp_representation.py │ ├── prodrepr │ │ ├── __init__.py │ │ ├── action_lookup.py │ │ └── product_representation.py │ ├── representation_utils.py │ ├── soft_block_mlp_representation.py │ ├── trivial_representation.py │ ├── unstructured_representation.py │ └── varphi.py ├── homomorphism │ ├── README.rst │ ├── __init__.py │ ├── experiments │ │ └── traversals.ipynb │ ├── hpconfigs │ │ ├── README.rst │ │ ├── __init__.py │ │ ├── hpsearch_config_block_lookup.py │ │ ├── hpsearch_config_block_mlp.py │ │ ├── hpsearch_config_block_mlp2.py │ │ ├── hpsearch_config_block_mlp_multiobjects.py │ │ ├── hpsearch_config_blockmlp_teapot_rots.py │ │ ├── hpsearch_config_mlp.py │ │ ├── hpsearch_config_sblockmlp_bunny_rots_cols_asym.py │ │ └── hpsearch_config_vae.py │ ├── train_args.py │ ├── train_block_lookup_repr.py │ ├── train_block_mlp_repr.py │ ├── train_block_rots_repr.py │ ├── train_hae.py │ ├── train_lookup_repr.py │ ├── train_mlp_repr.py │ ├── train_prod_rots_repr.py │ ├── train_soft_block_mlp_repr.py │ ├── train_utils.py │ └── train_vae.py ├── networks │ ├── __init__.py │ ├── autoencoder.py │ ├── autoencoder_prodrep.py │ ├── cnn.py │ ├── cond_cnn.py │ ├── cond_transposedcnn.py │ ├── mlp.py │ ├── multistep_autoencoder.py │ ├── network_utils.py │ ├── transposedcnn.py │ └── variational_utils.py ├── supervised │ ├── __init__.py │ ├── hpconfigs │ │ ├── README.rst │ │ └── __init__.py │ ├── train_args.py │ ├── train_supervised.py │ └── train_utils.py ├── trajectory │ ├── __init__.py │ ├── evaluate.py │ ├── train_args.py │ ├── train_block.py │ ├── train_prod_rot.py │ ├── train_unstructured.py │ └── train_utils.py └── utils │ ├── __init__.py │ ├── args.py │ ├── checkpoint.py │ ├── data_utils.py │ ├── logger_config.py │ ├── misc.py │ ├── plotting_utils.py │ ├── scheduler.py │ ├── sim_utils.py │ └── train_utils.py ├── docs ├── Makefile ├── README.md ├── build │ ├── doctrees │ │ ├── displacementae.autoencoder.doctree │ │ ├── displacementae.data.doctree │ │ ├── displacementae.data.obj3d.doctree │ │ ├── displacementae.doctree │ │ ├── displacementae.grouprepr.blockrots.doctree │ │ ├── displacementae.grouprepr.doctree │ │ ├── displacementae.grouprepr.prodrepr.doctree │ │ ├── displacementae.homomorphism.doctree │ │ ├── displacementae.homomorphism.hpconfigs.doctree │ │ ├── displacementae.networks.doctree │ │ ├── displacementae.supervised.doctree │ │ ├── displacementae.supervised.hpconfigs.doctree │ │ ├── displacementae.trajectory.doctree │ │ ├── displacementae.utils.doctree │ │ ├── index.doctree │ │ └── modules.doctree │ └── html │ │ ├── .buildinfo │ │ ├── _modules │ │ ├── displacementae │ │ │ ├── autoencoder │ │ │ │ ├── train_args.html │ │ │ │ └── train_utils.html │ │ │ ├── data │ │ │ │ ├── armeye.html │ │ │ │ ├── data_utils.html │ │ │ │ ├── dataset3d.html │ │ │ │ ├── dsprites.html │ │ │ │ ├── gen_trajs.html │ │ │ │ ├── obj3d │ │ │ │ │ ├── gen_args.html │ │ │ │ │ ├── generate_data.html │ │ │ │ │ ├── generate_dataset_mju.html │ │ │ │ │ └── world_model.html │ │ │ │ ├── obj3d_dataset.html │ │ │ │ ├── obj3d_supervised_dset.html │ │ │ │ ├── trajs.html │ │ │ │ └── transition_dataset.html │ │ │ ├── grouprepr │ │ │ │ ├── block_lookup_representation.html │ │ │ │ ├── block_mlp_representation.html │ │ │ │ ├── blockrots │ │ │ │ │ └── orthogonal.html │ │ │ │ ├── group_representation.html │ │ │ │ ├── lookup_representation.html │ │ │ │ ├── mlp_representation.html │ │ │ │ ├── prodrepr │ │ │ │ │ ├── action_lookup.html │ │ │ │ │ └── product_representation.html │ │ │ │ ├── representation_utils.html │ │ │ │ ├── soft_block_mlp_representation.html │ │ │ │ ├── trivial_representation.html │ │ │ │ ├── unstructured_representation.html │ │ │ │ └── varphi.html │ │ │ ├── homomorphism │ │ │ │ ├── train_args.html │ │ │ │ └── train_utils.html │ │ │ ├── networks │ │ │ │ ├── autoencoder.html │ │ │ │ ├── autoencoder_prodrep.html │ │ │ │ ├── cnn.html │ │ │ │ ├── cond_cnn.html │ │ │ │ ├── cond_transposedcnn.html │ │ │ │ ├── mlp.html │ │ │ │ ├── multistep_autoencoder.html │ │ │ │ ├── network_utils.html │ │ │ │ ├── transposedcnn.html │ │ │ │ └── variational_utils.html │ │ │ ├── supervised │ │ │ │ ├── train_args.html │ │ │ │ └── train_utils.html │ │ │ ├── trajectory │ │ │ │ ├── train_args.html │ │ │ │ └── train_utils.html │ │ │ └── utils │ │ │ │ ├── args.html │ │ │ │ ├── checkpoint.html │ │ │ │ ├── data_utils.html │ │ │ │ ├── logger_config.html │ │ │ │ ├── misc.html │ │ │ │ ├── plotting_utils.html │ │ │ │ ├── scheduler.html │ │ │ │ ├── sim_utils.html │ │ │ │ └── train_utils.html │ │ └── index.html │ │ ├── _static │ │ ├── _sphinx_javascript_frameworks_compat.js │ │ ├── basic.css │ │ ├── classic.css │ │ ├── doctools.js │ │ ├── documentation_options.js │ │ ├── jquery-3.6.0.js │ │ ├── jquery.js │ │ ├── language_data.js │ │ ├── pygments.css │ │ ├── searchtools.js │ │ ├── sidebar.js │ │ ├── underscore-1.13.1.js │ │ └── underscore.js │ │ ├── displacementae.autoencoder.html │ │ ├── displacementae.data.html │ │ ├── displacementae.data.obj3d.html │ │ ├── displacementae.grouprepr.blockrots.html │ │ ├── displacementae.grouprepr.html │ │ ├── displacementae.grouprepr.prodrepr.html │ │ ├── displacementae.homomorphism.hpconfigs.html │ │ ├── displacementae.homomorphism.html │ │ ├── displacementae.html │ │ ├── displacementae.networks.html │ │ ├── displacementae.supervised.hpconfigs.html │ │ ├── displacementae.supervised.html │ │ ├── displacementae.trajectory.html │ │ ├── displacementae.utils.html │ │ ├── genindex.html │ │ ├── index.html │ │ ├── modules.html │ │ ├── objects.inv │ │ ├── py-modindex.html │ │ ├── search.html │ │ └── searchindex.js ├── make.bat └── source │ ├── conf.py │ └── index.rst ├── requirements.txt ├── saved ├── .gitkeep └── armeye │ └── orthogonal_vae │ └── 6 │ └── config.json ├── setup.py └── tests ├── README.md ├── __init__.py ├── data ├── __init__.py ├── test_armeye.py └── test_dsprites.py ├── grouprepr ├── __init__.py ├── test_block_lookup_representation.py ├── test_block_mlp_representation.py ├── test_lookup_repr.py ├── test_mlp_representation.py └── 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