├── Diff-Control ├── BCZ_LSTM_engine.py ├── BCZ_engine.py ├── config.py ├── config │ ├── BCZ_v1.0.yaml │ ├── duck_controlnet.yaml │ ├── duck_diffusion.yaml │ └── tomato_diffusion.yaml ├── controlnet_engine.py ├── dataset │ ├── __init__.py │ ├── drum_hit.py │ ├── lid_pick_and_place.py │ ├── pick_duck.py │ └── tomato_pick_and_place.py ├── inference_controlnet.py ├── inference_diffusion.py ├── model │ ├── EMA.py │ ├── __init__.py │ ├── diffusion_model.py │ ├── film_lstm.py │ ├── film_model.py │ ├── film_resnet.py │ ├── modules.py │ ├── stateful_module.py │ └── utils.py ├── optimizer │ ├── __init__.py │ ├── cosine_decay_scheduler.py │ ├── lr_scheduler.py │ ├── optimizer.py │ └── polynomial_decay.py ├── prebuild_engine.py ├── tomato_engine.py └── train.py ├── LICENSE ├── README.md ├── conf.sh ├── img ├── controlnet.png ├── diff-control-policy.gif └── results.png └── run_filter.sh /Diff-Control/BCZ_LSTM_engine.py: 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