├── .gitignore ├── LICENSE ├── README.md ├── envs ├── __init__.py ├── antenv │ ├── __init__.py │ ├── ant.py │ ├── ant_gather_env.py │ ├── ant_maze_env.py │ ├── ant_maze_multimodal.py │ ├── assets │ │ ├── ant.xml │ │ └── ant_maze_multimodal.xml │ ├── create_gather_env.py │ ├── create_maze_env.py │ ├── gather_env.py │ ├── maze_env.py │ └── maze_env_utils.py └── ur3 │ ├── gym_custom │ ├── __init__.py │ ├── core.py │ ├── envs │ │ ├── README.md │ │ ├── __init__.py │ │ ├── custom │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ ├── meshes │ │ │ │ │ ├── objects │ │ │ │ │ │ └── mug.stl │ │ │ │ │ ├── sawyer │ │ │ │ │ │ ├── GUIDE_WSG50_110.stl │ │ │ │ │ │ ├── WSG-FMF.stl │ │ │ │ │ │ ├── WSG50_110.stl │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ ├── eGripperBase.stl │ │ │ │ │ │ ├── head.stl │ │ │ │ │ │ ├── l0.stl │ │ │ │ │ │ ├── l1.stl │ │ │ │ │ │ ├── l2.stl │ │ │ │ │ │ ├── l3.stl │ │ │ │ │ │ ├── l4.stl │ │ │ │ │ │ ├── l5.stl │ │ │ │ │ │ ├── l6.stl │ │ │ │ │ │ ├── pedestal.stl │ │ │ │ │ │ ├── sawyer_ft │ │ │ │ │ │ │ ├── PEDESTAL.DAE │ │ │ │ │ │ │ ├── PEDESTAL.stl │ │ │ │ │ │ │ ├── base.DAE │ │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ │ ├── head.DAE │ │ │ │ │ │ │ ├── head.stl │ │ │ │ │ │ │ ├── l0.DAE │ │ │ │ │ │ │ ├── l0.stl │ │ │ │ │ │ │ ├── l1.DAE │ │ │ │ │ │ │ ├── l1.stl │ │ │ │ │ │ │ ├── l2.DAE │ │ │ │ │ │ │ ├── l2.stl │ │ │ │ │ │ │ ├── l3.DAE │ │ │ │ │ │ │ ├── l3.stl │ │ │ │ │ │ │ ├── l4.DAE │ │ │ │ │ │ │ ├── l4.stl │ │ │ │ │ │ │ ├── l5.DAE │ │ │ │ │ │ │ ├── l5.stl │ │ │ │ │ │ │ ├── l6.DAE │ │ │ │ │ │ │ └── l6.stl │ │ │ │ │ │ ├── sawyer_mp1 │ │ │ │ │ │ │ ├── l6.DAE │ │ │ │ │ │ │ └── l6.stl │ │ │ │ │ │ ├── sawyer_mp3 │ │ │ │ │ │ │ ├── l0.DAE │ │ │ │ │ │ │ ├── l0.stl │ │ │ │ │ │ │ ├── l1.DAE │ │ │ │ │ │ │ └── l1.stl │ │ │ │ │ │ └── sawyer_pv │ │ │ │ │ │ │ ├── base.DAE │ │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ │ ├── head.DAE │ │ │ │ │ │ │ ├── head.stl │ │ │ │ │ │ │ ├── l0.DAE │ │ │ │ │ │ │ ├── l0.stl │ │ │ │ │ │ │ ├── l1.DAE │ │ │ │ │ │ │ ├── l1.stl │ │ │ │ │ │ │ ├── l2.DAE │ │ │ │ │ │ │ ├── l2.stl │ │ │ │ │ │ │ ├── l3.DAE │ │ │ │ │ │ │ ├── l3.stl │ │ │ │ │ │ │ ├── l4.DAE │ │ │ │ │ │ │ ├── l4.stl │ │ │ │ │ │ │ ├── l5.DAE │ │ │ │ │ │ │ ├── l5.stl │ │ │ │ │ │ │ ├── l6.DAE │ │ │ │ │ │ │ ├── l6.stl │ │ │ │ │ │ │ ├── pedestal.DAE │ │ │ │ │ │ │ └── pedestal.stl │ │ │ │ │ └── ur3 │ │ │ │ │ │ ├── dual_ur3_stand_collision_box │ │ │ │ │ │ ├── test_convex0.stl │ │ │ │ │ │ ├── test_convex1.stl │ │ │ │ │ │ ├── test_convex10.stl │ │ │ │ │ │ ├── test_convex11.stl │ │ │ │ │ │ ├── test_convex12.stl │ │ │ │ │ │ ├── test_convex13.stl │ │ │ │ │ │ ├── test_convex14.stl │ │ │ │ │ │ ├── test_convex15.stl │ │ │ │ │ │ ├── test_convex16.stl │ │ │ │ │ │ ├── test_convex17.stl │ │ │ │ │ │ ├── test_convex18.stl │ │ │ │ │ │ ├── test_convex19.stl │ │ │ │ │ │ ├── test_convex2.stl │ │ │ │ │ │ ├── test_convex20.stl │ │ │ │ │ │ ├── test_convex21.stl │ │ │ │ │ │ ├── test_convex22.stl │ │ │ │ │ │ ├── test_convex23.stl │ │ │ │ │ │ ├── test_convex24.stl │ │ │ │ │ │ ├── test_convex25.stl │ │ │ │ │ │ ├── test_convex26.stl │ │ │ │ │ │ ├── test_convex27.stl │ │ │ │ │ │ ├── test_convex28.stl │ │ │ │ │ │ ├── test_convex29.stl │ │ │ │ │ │ ├── test_convex3.stl │ │ │ │ │ │ ├── test_convex30.stl │ │ │ │ │ │ ├── test_convex31.stl │ │ │ │ │ │ ├── test_convex32.stl │ │ │ │ │ │ ├── test_convex33.stl │ │ │ │ │ │ ├── test_convex34.stl │ │ │ │ │ │ ├── test_convex35.stl │ │ │ │ │ │ ├── test_convex36.stl │ │ │ │ │ │ ├── test_convex37.stl │ │ │ │ │ │ ├── test_convex38.stl │ │ │ │ │ │ ├── test_convex39.stl │ │ │ │ │ │ ├── test_convex4.stl │ │ │ │ │ │ ├── test_convex40.stl │ │ │ │ │ │ ├── test_convex41.stl │ │ │ │ │ │ ├── test_convex42.stl │ │ │ │ │ │ ├── test_convex43.stl │ │ │ │ │ │ ├── test_convex44.stl │ │ │ │ │ │ ├── test_convex45.stl │ │ │ │ │ │ ├── test_convex46.stl │ │ │ │ │ │ ├── test_convex47.stl │ │ │ │ │ │ ├── test_convex48.stl │ │ │ │ │ │ ├── test_convex49.stl │ │ │ │ │ │ ├── test_convex5.stl │ │ │ │ │ │ ├── test_convex50.stl │ │ │ │ │ │ ├── test_convex51.stl │ │ │ │ │ │ ├── test_convex52.stl │ │ │ │ │ │ ├── test_convex53.stl │ │ │ │ │ │ ├── test_convex54.stl │ │ │ │ │ │ ├── test_convex55.stl │ │ │ │ │ │ ├── test_convex56.stl │ │ │ │ │ │ ├── test_convex57.stl │ │ │ │ │ │ ├── test_convex58.stl │ │ │ │ │ │ ├── test_convex59.stl │ │ │ │ │ │ ├── test_convex6.stl │ │ │ │ │ │ ├── test_convex7.stl │ │ │ │ │ │ ├── test_convex8.stl │ │ │ │ │ │ └── test_convex9.stl │ │ │ │ │ │ ├── dual_ur3_stand_final_filtered.stl │ │ │ │ │ │ ├── kinova_robotiq_coupler.stl │ │ │ │ │ │ ├── robotiq_85_base_link.stl │ │ │ │ │ │ ├── robotiq_85_finger_link.stl │ │ │ │ │ │ ├── robotiq_85_finger_tip_link.stl │ │ │ │ │ │ ├── robotiq_85_inner_knuckle_link.stl │ │ │ │ │ │ ├── robotiq_85_knuckle_link.stl │ │ │ │ │ │ ├── ur3_base.stl │ │ │ │ │ │ ├── ur3_forearm.stl │ │ │ │ │ │ ├── ur3_robot.urdf │ │ │ │ │ │ ├── ur3_shoulder.stl │ │ │ │ │ │ ├── ur3_upperarm.stl │ │ │ │ │ │ ├── ur3_wrist1.stl │ │ │ │ │ │ ├── ur3_wrist2.stl │ │ │ │ │ │ └── ur3_wrist3.stl │ │ │ │ ├── practice │ │ │ │ │ ├── practice1_base.xml │ │ │ │ │ ├── practice1_base_back.xml │ │ │ │ │ ├── practice1_base_front.xml │ │ │ │ │ ├── practice1_double.xml │ │ │ │ │ ├── practice1_motor.xml │ │ │ │ │ ├── practice1_motor_no_gravity.xml │ │ │ │ │ ├── practice1_nodynamics.xml │ │ │ │ │ ├── practice1_position.xml │ │ │ │ │ ├── practice1_position_dyntype_integrator.xml │ │ │ │ │ ├── practice1_shared_config.xml │ │ │ │ │ ├── practice1_velocity.xml │ │ │ │ │ ├── practice2.xml │ │ │ │ │ ├── practice3.xml │ │ │ │ │ └── practice4_kinematics.xml │ │ │ │ ├── textures │ │ │ │ │ ├── darkwood.png │ │ │ │ │ ├── granite.png │ │ │ │ │ ├── light_wood.png │ │ │ │ │ ├── light_wood_v2.png │ │ │ │ │ ├── light_wood_v3.jpeg │ │ │ │ │ ├── light_wood_v3.png │ │ │ │ │ ├── marble.png │ │ │ │ │ ├── metal.png │ │ │ │ │ ├── navy_blue.png │ │ │ │ │ ├── real_door.png │ │ │ │ │ ├── tennis.png │ │ │ │ │ ├── wood.png │ │ │ │ │ └── wood_light.png │ │ │ │ └── ur3 │ │ │ │ │ ├── dual_ur3_base.xml │ │ │ │ │ ├── dual_ur3_configs.xml │ │ │ │ │ ├── dual_ur3_constraints.xml │ │ │ │ │ ├── dual_ur3_larr_left_arm.xml │ │ │ │ │ ├── dual_ur3_larr_left_hand.xml │ │ │ │ │ ├── dual_ur3_larr_right_arm.xml │ │ │ │ │ ├── dual_ur3_larr_right_hand.xml │ │ │ │ │ ├── dual_ur3_pick_and_place_base.xml │ │ │ │ │ ├── flying_gripper.xml │ │ │ │ │ ├── robotiq85_gripper.xml │ │ │ │ │ ├── robotiq85_gripper_constraints.xml │ │ │ │ │ ├── robotiq85_gripper_constraints_jgkim.xml │ │ │ │ │ ├── robotiq85_gripper_jgkim.xml │ │ │ │ │ ├── shared_config.xml │ │ │ │ │ ├── simple_gripper.xml │ │ │ │ │ ├── single_ur3_base.xml │ │ │ │ │ ├── single_ur3_configs.xml │ │ │ │ │ ├── single_ur3_constraints.xml │ │ │ │ │ ├── single_ur3_front_base.xml │ │ │ │ │ ├── single_ur3_left_base.xml │ │ │ │ │ ├── single_ur3_left_constraints.xml │ │ │ │ │ ├── single_ur3_left_front_base.xml │ │ │ │ │ ├── single_ur3_pick_and_place_base.xml │ │ │ │ │ ├── ur3_base.xml │ │ │ │ │ ├── ur3_pedestalmounted.xml │ │ │ │ │ ├── ur3_pick_and_place_dscho.xml │ │ │ │ │ ├── ur3_shared_config_dscho.xml │ │ │ │ │ ├── ur3_withgripper.xml │ │ │ │ │ ├── ur3_withgripper_pedestalmounted.xml │ │ │ │ │ └── ur3_xyz_base_dscho.xml │ │ │ ├── dual_ur3_env.py │ │ │ ├── dual_ur3_pick_and_place_env.py │ │ │ ├── dual_ur3_xyz_env.py │ │ │ ├── gripper_env.py │ │ │ ├── practice_env.py │ │ │ ├── single_ur3_env.py │ │ │ ├── single_ur3_xy_combined_env.py │ │ │ ├── single_ur3_xy_depth_env.py │ │ │ ├── single_ur3_xy_env.py │ │ │ ├── single_ur3_xy_front_env.py │ │ │ ├── single_ur3_xy_left_front_env.py │ │ │ ├── single_ur3_xyz_env.py │ │ │ ├── ur3 │ │ │ │ ├── __init__.py │ │ │ │ ├── pick_and_place.py │ │ │ │ ├── push.py │ │ │ │ ├── reach.py │ │ │ │ └── slide.py │ │ │ ├── ur3_env.py │ │ │ └── ur_utils.py │ │ ├── mujoco │ │ │ ├── __init__.py │ │ │ ├── assets │ │ │ │ ├── half_cheetah.xml │ │ │ │ ├── inverted_double_pendulum.xml │ │ │ │ └── inverted_pendulum.xml │ │ │ ├── half_cheetah.py │ │ │ ├── half_cheetah_v3.py │ │ │ ├── inverted_double_pendulum.py │ │ │ ├── inverted_pendulum.py │ │ │ └── mujoco_env.py │ │ ├── real │ │ │ ├── __init__.py │ │ │ ├── dual_ur3_env.py │ │ │ ├── manipulator_h_env.py │ │ │ ├── manipulator_x_env.py │ │ │ ├── opencm │ │ │ │ ├── __init__.py │ │ │ │ └── interface.py │ │ │ ├── single_ur3_env.py │ │ │ ├── ur │ │ │ │ ├── __init__.py │ │ │ │ ├── drivers │ │ │ │ │ ├── URBasic │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── connectionState.py │ │ │ │ │ │ ├── dashboard.py │ │ │ │ │ │ ├── dataLog.py │ │ │ │ │ │ ├── dataLogging.py │ │ │ │ │ │ ├── kinematic.py │ │ │ │ │ │ ├── manipulation.py │ │ │ │ │ │ ├── realTimeClient.py │ │ │ │ │ │ ├── robotConnector.py │ │ │ │ │ │ ├── robotModel.py │ │ │ │ │ │ ├── robotiq_gripper.py │ │ │ │ │ │ ├── rtde.py │ │ │ │ │ │ ├── urScript.py │ │ │ │ │ │ └── urScriptExt.py │ │ │ │ │ ├── URplus │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── adam6017.py │ │ │ │ │ │ ├── adamReader.py │ │ │ │ │ │ ├── airosSander.py │ │ │ │ │ │ ├── cteu_ep.py │ │ │ │ │ │ ├── forceTorqueSensor.py │ │ │ │ │ │ ├── mib.py │ │ │ │ │ │ ├── mis341.py │ │ │ │ │ │ └── xsensImu.py │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── logConfig.xml │ │ │ │ │ ├── rtdeConfigurationDefault.xml │ │ │ │ │ └── urx │ │ │ │ │ │ ├── .git.old │ │ │ │ │ │ ├── COMMIT_EDITMSG │ │ │ │ │ │ ├── HEAD │ │ │ │ │ │ ├── config │ │ │ │ │ │ ├── description │ │ │ │ │ │ ├── hooks │ │ │ │ │ │ │ ├── applypatch-msg.sample │ │ │ │ │ │ │ ├── commit-msg.sample │ │ │ │ │ │ │ ├── fsmonitor-watchman.sample │ │ │ │ │ │ │ ├── post-update.sample │ │ │ │ │ │ │ ├── pre-applypatch.sample │ │ │ │ │ │ │ ├── pre-commit.sample │ │ │ │ │ │ │ ├── pre-merge-commit.sample │ │ │ │ │ │ │ ├── pre-push.sample │ │ │ │ │ │ │ ├── pre-rebase.sample │ │ │ │ │ │ │ ├── pre-receive.sample │ │ │ │ │ │ │ ├── prepare-commit-msg.sample │ │ │ │ │ │ │ └── update.sample │ │ │ │ │ │ ├── index │ │ │ │ │ │ ├── info │ │ │ │ │ │ │ └── exclude │ │ │ │ │ │ ├── objects │ │ │ │ │ │ │ ├── 19 │ │ │ │ │ │ │ │ └── 4ea74d667ddc7ee27fd5c5eab08e8cf7c5e1d2 │ │ │ │ │ │ │ ├── 28 │ │ │ │ │ │ │ │ └── 13fc6de38e576de4d3d06684e88d540228903a │ │ │ │ │ │ │ ├── 63 │ │ │ │ │ │ │ │ └── f9aafd9708593c633b27c182dfe426f93baa88 │ │ │ │ │ │ │ ├── 83 │ │ │ │ │ │ │ │ └── 94242a441dc4f8c86b20890c0cdbe5900d2ac0 │ │ │ │ │ │ │ ├── 0e │ │ │ │ │ │ │ │ └── 8eab70c8b7038bc8c27ab133554831ae50b2ab │ │ │ │ │ │ │ ├── 8e │ │ │ │ │ │ │ │ └── ade8d8d3f4743823cc8d9cc7252797ba158736 │ │ │ │ │ │ │ ├── 9c │ │ │ │ │ │ │ │ └── 081334dd4707c6988d69caeed20fd8e758806f │ │ │ │ │ │ │ ├── a7 │ │ │ │ │ │ │ │ └── d6cd769711596b0082d25fb05e542e3b244e6b │ │ │ │ │ │ │ ├── e0 │ │ │ │ │ │ │ │ └── 33ad7ea101c0e810ecd42f46221237e35f2e4c │ │ │ │ │ │ │ └── pack │ │ │ │ │ │ │ │ ├── pack-bb00dc950af54b234fdd3a9590543a44f9d16137.idx │ │ │ │ │ │ │ │ └── pack-bb00dc950af54b234fdd3a9590543a44f9d16137.pack │ │ │ │ │ │ ├── packed-refs │ │ │ │ │ │ └── refs │ │ │ │ │ │ │ ├── heads │ │ │ │ │ │ │ └── master │ │ │ │ │ │ │ └── remotes │ │ │ │ │ │ │ └── origin │ │ │ │ │ │ │ └── HEAD │ │ │ │ │ │ ├── COPYING │ │ │ │ │ │ ├── README.md │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── robot.py │ │ │ │ │ │ ├── robotiq_two_finger_gripper.py │ │ │ │ │ │ ├── urrobot.py │ │ │ │ │ │ ├── urrtmon.py │ │ │ │ │ │ ├── urscript.py │ │ │ │ │ │ └── ursecmon.py │ │ │ │ ├── dual_ur3_kinematics_params.pkl │ │ │ │ └── interface.py │ │ │ ├── ur3_env.py │ │ │ └── utils.py │ │ └── registration.py │ ├── error.py │ ├── logger.py │ ├── spaces │ │ ├── __init__.py │ │ ├── box.py │ │ ├── dict.py │ │ ├── discrete.py │ │ ├── multi_binary.py │ │ ├── multi_discrete.py │ │ ├── space.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ └── test_spaces.py │ │ ├── tuple.py │ │ └── utils.py │ ├── tests │ │ └── test_core.py │ ├── utils │ │ ├── __init__.py │ │ ├── atomic_write.py │ │ ├── closer.py │ │ ├── colorize.py │ │ ├── ezpickle.py │ │ ├── json_utils.py │ │ ├── play.py │ │ ├── seeding.py │ │ └── tests │ │ │ ├── test_atexit.py │ │ │ └── test_seeding.py │ ├── vector │ │ ├── __init__.py │ │ ├── async_vector_env.py │ │ ├── sync_vector_env.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── test_async_vector_env.py │ │ │ ├── test_numpy_utils.py │ │ │ ├── test_shared_memory.py │ │ │ ├── test_spaces.py │ │ │ ├── test_sync_vector_env.py │ │ │ ├── test_vector_env.py │ │ │ └── utils.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── misc.py │ │ │ ├── numpy_utils.py │ │ │ ├── shared_memory.py │ │ │ └── spaces.py │ │ └── vector_env.py │ ├── version.py │ └── wrappers │ │ ├── README.md │ │ ├── __init__.py │ │ ├── atari_preprocessing.py │ │ ├── clip_action.py │ │ ├── filter_observation.py │ │ ├── flatten_observation.py │ │ ├── frame_stack.py │ │ ├── gray_scale_observation.py │ │ ├── monitor.py │ │ ├── monitoring │ │ ├── __init__.py │ │ ├── stats_recorder.py │ │ ├── tests │ │ │ ├── __init__.py │ │ │ ├── helpers.py │ │ │ └── test_video_recorder.py │ │ └── video_recorder.py │ │ ├── pixel_observation.py │ │ ├── record_episode_statistics.py │ │ ├── rescale_action.py │ │ ├── resize_observation.py │ │ ├── test_atari_preprocessing.py │ │ ├── test_clip_action.py │ │ ├── test_filter_observation.py │ │ ├── test_flatten_observation.py │ │ ├── test_frame_stack.py │ │ ├── test_gray_scale_observation.py │ │ ├── test_pixel_observation.py │ │ ├── test_record_episode_statistics.py │ │ ├── test_rescale_action.py │ │ ├── test_resize_observation.py │ │ ├── test_transform_observation.py │ │ ├── test_transform_reward.py │ │ ├── tests │ │ └── __init__.py │ │ ├── time_limit.py │ │ ├── transform_observation.py │ │ └── transform_reward.py │ ├── play_with_env.py │ └── setup.py ├── examples ├── ant_env.py ├── configs │ ├── env_vars │ │ └── env_vars.yaml │ ├── pretrain_ant.yaml │ ├── pretrain_kitchen.yaml │ ├── pretrain_pusht.yaml │ ├── pretrain_ur3.yaml │ ├── template │ │ ├── pretrain_your_env.yaml │ │ └── train_your_env.yaml │ ├── train_ant_goalcond.yaml │ ├── train_ant_nongoalcond.yaml │ ├── train_kitchen_goalcond.yaml │ ├── train_kitchen_nongoalcond.yaml │ ├── train_pusht_goalcond.yaml │ ├── train_pusht_nongoalcond.yaml │ ├── train_ur3_goalcond.yaml │ └── train_ur3_nongoalcond.yaml ├── dataset.py ├── kitchen_env.py ├── pretrain_vqvae.py ├── pusht_env.py ├── requirements-dev.txt ├── train.py ├── ur3_env.py └── video.py ├── install.sh ├── requirements.txt ├── setup.py ├── vector_quantize_pytorch ├── __init__.py ├── residual_vq.py └── vector_quantize_pytorch.py ├── vq_behavior_transformer ├── __init__.py ├── bet.py ├── gpt.py └── utils.py └── vqvae ├── __init__.py ├── vqvae.py └── vqvae_utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jayLEE0301/vq_bet_official/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jayLEE0301/vq_bet_official/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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