├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── environment.yml ├── figures ├── EnvDense2D-RobotPointMass.gif └── EnvSpheres3D-RobotPanda.gif ├── mpd ├── __init__.py ├── datasets │ ├── __init__.py │ ├── normalization.py │ └── trajectories.py ├── losses │ ├── __init__.py │ └── gaussian_diffusion_loss.py ├── models │ ├── __init__.py │ ├── diffusion_models │ │ ├── __init__.py │ │ ├── diffusion_model_base.py │ │ ├── guides.py │ │ ├── helpers.py │ │ ├── mlp_score_model.py │ │ ├── sample_functions.py │ │ ├── sbm_likelihood.py │ │ ├── score_model_base.py │ │ └── temporal_unet.py │ ├── generic │ │ ├── __init__.py │ │ ├── mlp_model.py │ │ └── no_model.py │ ├── helpers │ │ ├── __init__.py │ │ └── utils.py │ └── layers │ │ ├── __init__.py │ │ ├── equiv_layers.py │ │ ├── identity.py │ │ ├── layers.py │ │ └── layers_attention.py ├── plotting │ ├── __init__.py │ └── base.py ├── summaries │ ├── __init__.py │ ├── summary_base.py │ └── summary_trajectory_generation.py ├── trainer │ ├── __init__.py │ ├── train_loaders.py │ └── trainer.py └── utils │ ├── __init__.py │ ├── decorators.py │ ├── eval_helpers.py │ ├── jacobian.py │ ├── loading.py │ ├── one_hot.py │ └── path_utils.py ├── requirements.txt ├── scripts ├── __init__.py ├── generate_data │ ├── generate_trajectories.py │ ├── launch_generate_trajectories.py │ └── visualize_trajectories.py ├── inference │ └── inference.py └── train_diffusion │ ├── launch_train_01.py │ └── train.py ├── setup.py └── setup.sh /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/.gitmodules -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/README.md -------------------------------------------------------------------------------- /environment.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/environment.yml -------------------------------------------------------------------------------- /figures/EnvDense2D-RobotPointMass.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/figures/EnvDense2D-RobotPointMass.gif -------------------------------------------------------------------------------- /figures/EnvSpheres3D-RobotPanda.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/figures/EnvSpheres3D-RobotPanda.gif -------------------------------------------------------------------------------- /mpd/__init__.py: -------------------------------------------------------------------------------- 1 | __version__ = '0.01' 2 | -------------------------------------------------------------------------------- /mpd/datasets/__init__.py: -------------------------------------------------------------------------------- 1 | from .trajectories import * 2 | 3 | -------------------------------------------------------------------------------- /mpd/datasets/normalization.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/datasets/normalization.py -------------------------------------------------------------------------------- /mpd/datasets/trajectories.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/datasets/trajectories.py -------------------------------------------------------------------------------- /mpd/losses/__init__.py: -------------------------------------------------------------------------------- 1 | from .gaussian_diffusion_loss import * 2 | -------------------------------------------------------------------------------- /mpd/losses/gaussian_diffusion_loss.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/losses/gaussian_diffusion_loss.py -------------------------------------------------------------------------------- /mpd/models/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/__init__.py -------------------------------------------------------------------------------- /mpd/models/diffusion_models/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/diffusion_models/__init__.py -------------------------------------------------------------------------------- /mpd/models/diffusion_models/diffusion_model_base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/diffusion_models/diffusion_model_base.py -------------------------------------------------------------------------------- /mpd/models/diffusion_models/guides.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/diffusion_models/guides.py -------------------------------------------------------------------------------- /mpd/models/diffusion_models/helpers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/diffusion_models/helpers.py -------------------------------------------------------------------------------- /mpd/models/diffusion_models/mlp_score_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/diffusion_models/mlp_score_model.py -------------------------------------------------------------------------------- /mpd/models/diffusion_models/sample_functions.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/diffusion_models/sample_functions.py -------------------------------------------------------------------------------- /mpd/models/diffusion_models/sbm_likelihood.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/diffusion_models/sbm_likelihood.py -------------------------------------------------------------------------------- /mpd/models/diffusion_models/score_model_base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/diffusion_models/score_model_base.py -------------------------------------------------------------------------------- /mpd/models/diffusion_models/temporal_unet.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/diffusion_models/temporal_unet.py -------------------------------------------------------------------------------- /mpd/models/generic/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/generic/__init__.py -------------------------------------------------------------------------------- /mpd/models/generic/mlp_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/generic/mlp_model.py -------------------------------------------------------------------------------- /mpd/models/generic/no_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/generic/no_model.py -------------------------------------------------------------------------------- /mpd/models/helpers/__init__.py: -------------------------------------------------------------------------------- 1 | from .utils import * 2 | -------------------------------------------------------------------------------- /mpd/models/helpers/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/helpers/utils.py -------------------------------------------------------------------------------- /mpd/models/layers/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/layers/__init__.py -------------------------------------------------------------------------------- /mpd/models/layers/equiv_layers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/layers/equiv_layers.py -------------------------------------------------------------------------------- /mpd/models/layers/identity.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/layers/identity.py -------------------------------------------------------------------------------- /mpd/models/layers/layers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/layers/layers.py -------------------------------------------------------------------------------- /mpd/models/layers/layers_attention.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/models/layers/layers_attention.py -------------------------------------------------------------------------------- /mpd/plotting/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /mpd/plotting/base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/plotting/base.py -------------------------------------------------------------------------------- /mpd/summaries/__init__.py: -------------------------------------------------------------------------------- 1 | from .summary_trajectory_generation import * 2 | -------------------------------------------------------------------------------- /mpd/summaries/summary_base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/summaries/summary_base.py -------------------------------------------------------------------------------- /mpd/summaries/summary_trajectory_generation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/summaries/summary_trajectory_generation.py -------------------------------------------------------------------------------- /mpd/trainer/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/trainer/__init__.py -------------------------------------------------------------------------------- /mpd/trainer/train_loaders.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/trainer/train_loaders.py -------------------------------------------------------------------------------- /mpd/trainer/trainer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/trainer/trainer.py -------------------------------------------------------------------------------- /mpd/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/utils/__init__.py -------------------------------------------------------------------------------- /mpd/utils/decorators.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/utils/decorators.py -------------------------------------------------------------------------------- /mpd/utils/eval_helpers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/utils/eval_helpers.py -------------------------------------------------------------------------------- /mpd/utils/jacobian.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/utils/jacobian.py -------------------------------------------------------------------------------- /mpd/utils/loading.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/utils/loading.py -------------------------------------------------------------------------------- /mpd/utils/one_hot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/utils/one_hot.py -------------------------------------------------------------------------------- /mpd/utils/path_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/mpd/utils/path_utils.py -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/requirements.txt -------------------------------------------------------------------------------- /scripts/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /scripts/generate_data/generate_trajectories.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/scripts/generate_data/generate_trajectories.py -------------------------------------------------------------------------------- /scripts/generate_data/launch_generate_trajectories.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/scripts/generate_data/launch_generate_trajectories.py -------------------------------------------------------------------------------- /scripts/generate_data/visualize_trajectories.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/scripts/generate_data/visualize_trajectories.py -------------------------------------------------------------------------------- /scripts/inference/inference.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/scripts/inference/inference.py -------------------------------------------------------------------------------- /scripts/train_diffusion/launch_train_01.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/scripts/train_diffusion/launch_train_01.py -------------------------------------------------------------------------------- /scripts/train_diffusion/train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/scripts/train_diffusion/train.py -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/setup.py -------------------------------------------------------------------------------- /setup.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/joaoamcarvalho/mpd-public/HEAD/setup.sh --------------------------------------------------------------------------------