├── LICENSE ├── README.md ├── baseline_results.png ├── configs ├── _base_ │ ├── bc │ │ ├── bc.py │ │ ├── bc_mani_skill.py │ │ ├── bc_mani_skill_pointnet.py │ │ ├── bc_mani_skill_pointnet_seg.py │ │ └── bc_mani_skill_pointnet_transformer.py │ ├── bcq │ │ ├── bcq.py │ │ ├── bcq_mani_skill.py │ │ ├── bcq_mani_skill_pointnet.py │ │ └── bcq_mani_skill_pointnet_transformer.py │ ├── cql │ │ ├── cql.py │ │ ├── cql_mani_skill.py │ │ ├── cql_mani_skill_pointnet.py │ │ └── cql_mani_skill_pointnet_transformer.py │ ├── sac │ │ ├── sac.py │ │ └── sac_mani_skill_mlp.py │ └── td3_bc │ │ ├── td3_bc.py │ │ ├── td3_bc_mani_skill.py │ │ ├── td3_bc_mani_skill_pointnet.py │ │ └── td3_bc_mani_skill_pointnet_transformer.py ├── bc │ ├── mani_skill_point_cloud.py │ ├── mani_skill_point_cloud_seg.py │ ├── mani_skill_point_cloud_transformer.py │ ├── mani_skill_point_cloud_transformer_disk.py │ ├── mani_skill_state.py │ └── mani_skill_state_multiple_datasets.py ├── bcq │ ├── mani_skill_point_cloud.py │ ├── mani_skill_point_cloud_transformer.py │ └── mani_skill_state.py ├── cql │ ├── mani_skill_point_cloud.py │ ├── mani_skill_point_cloud_transformer.py │ └── mani_skill_state.py ├── sac │ └── sac_mani_skill_state_1M_train.py └── td3_bc │ ├── mani_skill_point_cloud.py │ ├── mani_skill_point_cloud_transformer.py │ └── mani_skill_state.py ├── example_mani_skill_data └── README.md ├── full_mani_skill_data └── README.md ├── full_mani_skill_state_data └── README.md ├── mani_skill_learn ├── __init__.py ├── apis │ ├── __init__.py │ └── train_rl.py ├── env │ ├── __init__.py │ ├── builder.py │ ├── env_utils.py │ ├── evaluation.py │ ├── observation_process.py │ ├── parallel_runner.py │ ├── replay_buffer.py │ ├── rollout.py │ ├── torch_parallel_runner.py │ └── wrappers.py ├── methods │ ├── __init__.py │ ├── brl │ │ ├── __init__.py │ │ ├── bc.py │ │ ├── bcq.py │ │ ├── cql.py │ │ └── td3_bc.py │ ├── builder.py │ └── mfrl │ │ ├── __init__.py │ │ ├── sac.py │ │ └── td3.py ├── networks │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── mlp.py │ │ ├── nn_utils.py │ │ ├── pointnet.py │ │ ├── transformer.py │ │ └── vae.py │ ├── builder.py │ ├── dense_heads │ │ ├── __init__.py │ │ ├── deterministic.py │ │ └── gaussian.py │ ├── modules │ │ ├── __init__.py │ │ ├── activation.py │ │ ├── attention.py │ │ ├── conv.py │ │ ├── conv_module.py │ │ ├── norm.py │ │ ├── padding.py │ │ └── weight_init.py │ ├── policy_network │ │ ├── __init__.py │ │ ├── continuous_policy.py │ │ └── vae_policy.py │ ├── utils.py │ └── value_network │ │ ├── __init__.py │ │ └── continuous_value.py ├── optimizers │ ├── __init__.py │ ├── builder.py │ └── default_constructor.py ├── utils │ ├── __init__.py │ ├── data │ │ ├── __init__.py │ │ ├── compression.py │ │ ├── concat.py │ │ ├── converter.py │ │ ├── dict_array.py │ │ ├── dict_utils.py │ │ ├── filtering.py │ │ ├── flatten.py │ │ ├── list_utils.py │ │ ├── padding.py │ │ ├── shape_utils.py │ │ ├── shuffle.py │ │ ├── string_utils.py │ │ ├── type.py │ │ └── wrapper.py │ ├── external │ │ ├── __init__.py │ │ └── web_utils.py │ ├── fileio │ │ ├── __init__.py │ │ ├── h5_utils.py │ │ ├── hash_utils.py │ │ └── serialization │ │ │ ├── __init__.py │ │ │ ├── handlers │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── csv_handler.py │ │ │ └── pickle_handler.py │ │ │ ├── io.py │ │ │ └── utils.py │ ├── math │ │ ├── __init__.py │ │ └── split_array.py │ ├── meta │ │ ├── __init__.py │ │ ├── collect_env.py │ │ ├── config.py │ │ ├── logger.py │ │ ├── magic_utils.py │ │ ├── module_utils.py │ │ ├── path_utils.py │ │ ├── process_utils.py │ │ ├── random_utils.py │ │ ├── registry.py │ │ └── timer.py │ └── torch │ │ ├── __init__.py │ │ ├── checkpoint.py │ │ ├── cuda_utils.py │ │ ├── distributed_utils.py │ │ ├── misc.py │ │ ├── module_utils.py │ │ ├── ops.py │ │ └── tensorboard │ │ ├── __init__.py │ │ └── tensorboard_logger.py └── version.py ├── requirements.txt ├── scripts ├── docker │ ├── Dockerfile │ └── build_docker.sh ├── full_mani_skill_example │ ├── 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