├── .gitignore ├── LICENSE ├── README.md ├── conda_env.yml ├── configs ├── action_ae │ ├── discretizers │ │ ├── k_means_blockpush_best.yaml │ │ ├── k_means_carla_best.yaml │ │ └── k_means_kitchen_best.yaml │ └── generator │ │ └── identity.yaml ├── encoder │ ├── identity.yaml │ ├── mlp.yaml │ └── resnet.yaml ├── env │ ├── block_pushing_multimodal_fixed_target.yaml │ ├── carla_multipath_merge_town04_traj_rep.yaml │ └── relay_kitchen_traj.yaml ├── env_vars │ └── env_vars.yaml ├── eval_blockpush_future_cond.yaml ├── eval_carla_future_cond.yaml ├── eval_kitchen_future_cond.yaml ├── state_prior │ ├── mingpt_blockpush_future_cond_best.yaml │ ├── mingpt_carla_future_cond_best.yaml │ └── mingpt_kitchen_future_cond_best.yaml ├── train_blockpush_future_cond.yaml ├── train_carla_future_cond.yaml └── train_kitchen_future_cond.yaml ├── dataloaders ├── __init__.py ├── augmentations.py ├── state_action_loader.py └── trajectory_loader.py ├── envs ├── __init__.py ├── assets │ ├── block.urdf │ ├── block2.urdf │ ├── blocks │ │ ├── blue_cube.urdf │ │ ├── cube.obj │ │ ├── green_star.urdf │ │ ├── moon.obj │ │ ├── pentagon.obj │ │ ├── red_moon.urdf │ │ ├── star.obj │ │ └── yellow_pentagon.urdf │ ├── insert.urdf │ ├── plane.obj │ ├── suction │ │ ├── base.obj │ │ ├── cylinder.urdf │ │ ├── cylinder_real.urdf │ │ ├── head.obj │ │ ├── mid.obj │ │ ├── suction-base.urdf │ │ ├── suction-head-long.urdf │ │ ├── suction-head.urdf │ │ └── tip.obj │ ├── workspace.urdf │ ├── workspace_real.urdf │ ├── zone.obj │ ├── zone.urdf │ └── zone2.urdf ├── block_pushing │ ├── __init__.py │ ├── block_pushing.py │ ├── block_pushing_discontinuous.py │ ├── block_pushing_multimodal.py │ ├── goals.py │ ├── metrics.py │ └── oracles │ │ ├── discontinuous_push_oracle.py │ │ ├── multimodal_push_oracle.py │ │ ├── oriented_push_oracle.py │ │ ├── pushing_info.py │ │ └── reach_oracle.py ├── carla │ ├── Town04_spawns.npy │ ├── Town10_spawns.npy │ ├── __init__.py │ ├── agents │ │ ├── __init__.py │ │ ├── navigation │ │ │ ├── __init__.py │ │ │ ├── basic_agent.py │ │ │ ├── behavior_agent.py │ │ │ ├── behavior_types.py │ │ │ ├── controller.py │ │ │ ├── global_route_planner.py │ │ │ └── local_planner.py │ │ └── tools │ │ │ ├── __init__.py │ │ │ └── misc.py │ ├── builtin_agent.py │ ├── generate_trajectories.py │ ├── generate_trajectories_random_drive.py │ ├── generate_trajectories_state.py │ ├── goals.py │ ├── utils.py │ ├── v0.py │ └── weather.py ├── franka_play_kitchen │ ├── __init__.py │ ├── control │ │ ├── __init__.py │ │ ├── gripper.py │ │ ├── robot.py │ │ ├── teleop.py │ │ └── vr_controller.py │ ├── goals.py │ ├── preproc │ │ ├── __init__.py │ │ ├── camera.py │ │ ├── gripper.py │ │ ├── robot.py │ │ └── sync.py │ ├── preproc_trajs.py │ ├── run_recording_server.py │ ├── run_teleop_rec_client.py │ ├── streams │ │ ├── __init__.py │ │ ├── core.py │ │ ├── depth_colorizer.py │ │ └── recorder.py │ ├── utils │ │ └── __init__.py │ └── v0.py ├── kitchen │ ├── __init__.py │ ├── goals.py │ └── v0.py ├── multi_route │ ├── __init__.py │ ├── multi_route.py │ └── v1.py ├── particle │ ├── particle.py │ ├── particle_metrics.py │ ├── particle_oracles.py │ ├── particle_test.py │ └── particle_viz.py └── utils │ ├── pose3d.py │ ├── utils_pybullet.py │ ├── utils_pybullet_test.py │ ├── xarm_sim_robot.py │ └── xarm_sim_robot_test.py ├── models ├── __init__.py ├── action_ae │ ├── __init__.py │ ├── discretizers │ │ ├── base.py │ │ └── k_means.py │ └── generators │ │ ├── base.py │ │ ├── identity.py │ │ └── mlp.py ├── latent_generators │ ├── latent_generator.py │ └── mingpt.py ├── libraries │ ├── loss_fn.py │ └── mingpt │ │ ├── LICENSE │ │ ├── __init__.py │ │ ├── model.py │ │ ├── trainer.py │ │ └── utils.py ├── mlp.py └── resnet.py ├── run_on_env.py ├── train.py ├── utils ├── __init__.py ├── logx.py ├── memory_profile.py ├── mpi_pytorch.py ├── mpi_tools.py ├── plot.py ├── run_utils.py └── serialization_utils.py └── workspaces ├── __init__.py ├── adept_kitchen.py ├── base.py ├── block_push.py ├── carla_multipath.py 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