├── .gitiginore ├── .gitignore ├── README.md ├── algo ├── models │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── imagenet_depth_encoder.cpython-37.pyc │ │ ├── models.cpython-37.pyc │ │ ├── models.cpython-38.pyc │ │ ├── models_priv.cpython-37.pyc │ │ ├── models_priv.cpython-38.pyc │ │ ├── observation_encoder.cpython-37.pyc │ │ ├── proprio_depth_transformer.cpython-37.pyc │ │ ├── proprio_depth_transformer.cpython-38.pyc │ │ ├── proprio_embd_transformer.cpython-37.pyc │ │ ├── proprio_mvp_rgb_transformer.cpython-37.pyc │ │ ├── proprio_r3m_rgb_transformer.cpython-37.pyc │ │ ├── proprio_vip_transformer.cpython-37.pyc │ │ ├── proprio_vit_transformer.cpython-37.pyc │ │ ├── pt_actor_critic.cpython-37.pyc │ │ ├── rt_actor_critic.cpython-37.pyc │ │ ├── rt_embed_actor_critic.cpython-37.pyc │ │ ├── running_mean_std.cpython-37.pyc │ │ ├── running_mean_std.cpython-38.pyc │ │ ├── vision_encoder.cpython-37.pyc │ │ └── vision_encoder.cpython-38.pyc │ ├── models.py │ ├── models_priv.py │ ├── rt_actor_critic.py │ └── running_mean_std.py ├── ppo_transformer │ ├── __pycache__ │ │ ├── experience.cpython-37.pyc │ │ ├── mem_eff_experience.cpython-37.pyc │ │ ├── ppo_transformer.cpython-37.pyc │ │ └── ppobc_transformer.cpython-37.pyc │ ├── experience.py │ └── ppo_transformer.py └── pretrained │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── policy_transformer.cpython-37.pyc │ ├── robot_transformer.cpython-37.pyc │ ├── robot_transformer_ar.cpython-37.pyc │ └── transformer.cpython-37.pyc │ ├── dataset.py │ ├── depth_trainer.py │ ├── depth_trainer_multigpu.py │ ├── robot_dataset.py │ ├── robot_transformer_ar.py │ ├── trainer.py │ └── transformer.py ├── cfg ├── config.yaml ├── launcher │ └── default.yaml ├── pretrain │ ├── AllegroXarmCabinet.yaml │ ├── AllegroXarmNew.yaml │ └── AllegroXarmThrowing.yaml ├── task │ ├── AllegroXarmCabinet.yaml │ ├── AllegroXarmNew.yaml │ └── AllegroXarmThrowing.yaml └── train │ ├── AllegroXarmCabinetPPO.yaml │ ├── AllegroXarmNewPPO.yaml │ └── AllegroXarmThrowingPPO.yaml ├── env.yml ├── imgs └── approach.png ├── scripts ├── finetune.py ├── finetune │ ├── finetune_cabinet.sh │ ├── finetune_grasp.sh │ └── finetune_throw.sh ├── pretrain.py ├── pretrain.sh └── run_policy.sh ├── tasks ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── allegro_kuka_grasping.cpython-37.pyc │ ├── allegro_kuka_grasping.cpython-38.pyc │ ├── torch_jit_utils.cpython-37.pyc │ ├── torch_jit_utils.cpython-38.pyc │ ├── xarm_cabinet.cpython-37.pyc │ ├── xarm_cabinet.cpython-38.pyc │ ├── xarm_grasping.cpython-37.pyc │ ├── xarm_grasping.cpython-38.pyc │ ├── xarm_grasping_debug.cpython-37.pyc │ ├── xarm_grasping_debug.cpython-38.pyc │ ├── xarm_grasping_new.cpython-37.pyc │ ├── xarm_grasping_new.cpython-38.pyc │ ├── xarm_grasping_real.cpython-37.pyc │ ├── xarm_throwing.cpython-37.pyc │ └── xarm_throwing.cpython-38.pyc ├── base │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── vec_task.cpython-37.pyc │ │ └── vec_task.cpython-38.pyc │ └── vec_task.py ├── torch_jit_utils.py ├── xarm7_utils.py ├── xarm_cabinet.py ├── xarm_grasping_new.py └── xarm_throwing.py └── utils ├── __init__.py ├── __pycache__ ├── __init__.cpython-37.pyc ├── __init__.cpython-38.pyc ├── allegro_kuka_utils.cpython-37.pyc ├── allegro_kuka_utils.cpython-38.pyc ├── hand_arm_utils.cpython-37.pyc ├── hand_arm_utils.cpython-38.pyc ├── logger.cpython-37.pyc ├── logger.cpython-38.pyc ├── misc.cpython-37.pyc ├── misc.cpython-38.pyc ├── pytorch_utils.cpython-37.pyc ├── pytorch_utils.cpython-38.pyc ├── randomization_utils.cpython-37.pyc ├── randomization_utils.cpython-38.pyc ├── reformat.cpython-37.pyc ├── reformat.cpython-38.pyc ├── torch_jit_utils.cpython-37.pyc ├── urdf_utils.cpython-37.pyc ├── urdf_utils.cpython-38.pyc ├── utils.cpython-37.pyc ├── 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