├── .gitignore ├── LICENSE ├── README.md ├── RLAfford ├── .gitignore ├── Collision_Predictor_Module │ ├── CollisionPredictor │ │ ├── Pointnet2_PyTorch │ │ │ ├── .pre-commit-config.yaml │ │ │ ├── .travis.yml │ │ │ ├── MANIFEST.in │ │ │ ├── README.rst │ │ │ ├── UNLICENSE │ │ │ ├── pointnet2 │ │ │ │ ├── __init__.py │ │ │ │ ├── _version.py │ │ │ │ ├── config │ │ │ │ │ ├── config.yaml │ │ │ │ │ ├── model │ │ │ │ │ │ ├── msg.yaml │ │ │ │ │ │ └── ssg.yaml │ │ │ │ │ ├── task │ │ │ │ │ │ ├── cls.yaml │ │ │ │ │ │ └── semseg.yaml │ │ │ │ │ └── task_model │ │ │ │ │ │ ├── cls-msg.yaml │ │ │ │ │ │ ├── cls-ssg.yaml │ │ │ │ │ │ ├── semseg-msg.yaml │ │ │ │ │ │ └── semseg-ssg.yaml │ │ │ │ ├── data │ │ │ │ │ ├── Indoor3DSemSegLoader.py │ │ │ │ │ ├── ModelNet40Loader.py │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── data_utils.py │ │ │ │ ├── models │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── pointnet2_msg_cls.py │ │ │ │ │ ├── pointnet2_msg_sem.py │ │ │ │ │ ├── pointnet2_ssg_cls.py │ │ │ │ │ └── pointnet2_ssg_sem.py │ │ │ │ └── train.py │ │ │ ├── pointnet2_ops_lib │ │ │ │ ├── MANIFEST.in │ │ │ │ ├── pointnet2_ops │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── _ext-src │ │ │ │ │ │ ├── include │ │ │ │ │ │ │ ├── ball_query.h │ │ │ │ │ │ │ ├── cuda_utils.h │ │ │ │ │ │ │ ├── group_points.h │ │ │ │ │ │ │ ├── interpolate.h │ │ │ │ │ │ │ ├── sampling.h │ │ │ │ │ │ │ └── utils.h │ │ │ │ │ │ └── src │ │ │ │ │ │ │ ├── ball_query.cpp │ │ │ │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ │ │ │ ├── bindings.cpp │ │ │ │ │ │ │ ├── group_points.cpp │ │ │ │ │ │ │ ├── group_points_gpu.cu │ │ │ │ │ │ │ ├── interpolate.cpp │ │ │ │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ │ │ │ ├── sampling.cpp │ │ │ │ │ │ │ └── sampling_gpu.cu │ │ │ │ │ ├── _version.py │ │ │ │ │ ├── pointnet2_modules.py │ │ │ │ │ └── pointnet2_utils.py │ │ │ │ └── setup.py │ │ │ ├── pyproject.toml │ │ │ ├── requirements.txt │ │ │ ├── setup.py │ │ │ ├── tests │ │ │ │ ├── conftest.py │ │ │ │ ├── test_cls.py │ │ │ │ └── test_semseg.py │ │ │ └── tox.ini │ │ ├── README.md │ │ └── code │ │ │ ├── README.md │ │ │ ├── colors.py │ │ │ ├── cp_utils.py │ │ │ ├── models │ │ │ └── model.py │ │ │ ├── requirements.txt │ │ │ ├── results │ │ │ ├── .gitignore │ │ │ └── README.md │ │ │ ├── scripts │ │ │ ├── .gitignore │ │ │ ├── test.sh │ │ │ └── train.sh │ │ │ └── train_with_RL.py │ ├── data_util │ │ ├── Images │ │ │ └── 2022-03-25-16-07-46.png │ │ ├── README.md │ │ ├── cabinet.txt │ │ ├── create_cabinet.py │ │ ├── create_cabinet_list.py │ │ ├── get_collision_map.py │ │ ├── get_table_pc.py │ │ ├── np2tensor.py │ │ ├── show_buffer.py │ │ ├── show_buffer_dynamic.py │ │ ├── show_buffer_silent.py │ │ ├── show_model.py │ │ └── utils.py │ └── where2act │ │ ├── .gitignore │ │ ├── README.md │ │ ├── code │ │ ├── .gitignore │ │ ├── README.md │ │ ├── blender_utils │ │ │ ├── camera.blend │ │ │ ├── cube.obj │ │ │ ├── quaternion.py │ │ │ ├── render_blender.py │ │ │ └── render_using_blender.py │ │ ├── camera.py │ │ ├── checkcollect_data.py │ │ ├── collect_data.py │ │ ├── colors.py │ │ ├── data.py │ │ ├── datagen.py │ │ ├── env.py │ │ ├── gen_html_hierachy_local.py │ │ ├── gen_offline_data.py │ │ ├── models │ │ │ ├── model_3d.py │ │ │ ├── model_3d_critic.py │ │ │ ├── model_3d_critic_legacy.py │ │ │ └── model_3d_legacy.py │ │ ├── pc_to_actionscore.py │ │ ├── pyquaternion │ │ │ ├── .gitignore │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ └── quaternion.py │ │ ├── recollect_data.py │ │ ├── replay_data.py │ │ ├── requirements.txt │ │ ├── results │ │ │ ├── .gitignore │ │ │ └── README.md │ │ ├── robots │ │ │ ├── franka_description │ │ │ │ └── meshes │ │ │ │ │ ├── collision │ │ │ │ │ ├── finger.stl │ │ │ │ │ ├── finger.stl.convex.stl │ │ │ │ │ ├── hand.stl │ │ │ │ │ ├── hand.stl.convex.stl │ │ │ │ │ ├── link0.stl │ │ │ │ │ ├── link0.stl.convex.stl │ │ │ │ │ ├── link1.stl │ │ │ │ │ ├── link1.stl.convex.stl │ │ │ │ │ ├── link2.stl │ │ │ │ │ ├── link2.stl.convex.stl │ │ │ │ │ ├── link3.stl │ │ │ │ │ ├── link3.stl.convex.stl │ │ │ │ │ ├── link4.stl │ │ │ │ │ ├── link4.stl.convex.stl │ │ │ │ │ ├── link5.stl │ │ │ │ │ ├── link5.stl.convex.stl │ │ │ │ │ ├── link6.stl │ │ │ │ │ ├── link6.stl.convex.stl │ │ │ │ │ ├── link7.stl │ │ │ │ │ └── link7.stl.convex.stl │ │ │ │ │ └── visual │ │ │ │ │ ├── finger.dae │ │ │ │ │ ├── hand.dae │ │ │ │ │ ├── link0.dae │ │ │ │ │ ├── link1.dae │ │ │ │ │ ├── link2.dae │ │ │ │ │ ├── link3.dae │ │ │ │ │ ├── link4.dae │ │ │ │ │ ├── link5.dae │ │ │ │ │ ├── link6.dae │ │ │ │ │ └── link7.dae │ │ │ ├── panda.urdf │ │ │ ├── panda_gripper.urdf │ │ │ └── panda_robot.py │ │ ├── scripts │ │ │ ├── .gitignore │ │ │ ├── run_gen_offline_data.sh │ │ │ ├── run_train_3d.sh │ │ │ ├── run_train_3d_critic.sh │ │ │ ├── run_visu_action_heatmap_proposals.sh │ │ │ └── run_visu_critic_heatmap.sh │ │ ├── train_3d.py │ │ ├── train_3d_critic.py │ │ ├── visu_action_heatmap_proposals.py │ │ ├── visu_critic_heatmap.py │ │ └── w2a_utils.py │ │ ├── data │ │ ├── .gitignore │ │ └── README.md │ │ ├── images │ │ └── teaser.png │ │ └── stats │ │ ├── all_15cats.txt │ │ ├── ins_cnt_15cats.txt │ │ ├── ins_cnt_5cats.txt │ │ ├── test_5cats_data_list.txt │ │ ├── train_10cats_test_data_list.txt │ │ └── train_10cats_train_data_list.txt ├── MARL_Module │ └── envs │ │ ├── algorithms │ │ ├── __init__.py │ │ ├── algorithms │ │ │ ├── __init__.py │ │ │ ├── actor_critic.py │ │ │ ├── happo_policy.py │ │ │ ├── happo_trainer.py │ │ │ ├── hatrpo_policy.py │ │ │ ├── hatrpo_trainer.py │ │ │ ├── ippo_policy.py │ │ │ ├── ippo_trainer.py │ │ │ ├── mappo_policy.py │ │ │ ├── mappo_trainer.py │ │ │ ├── runner.py │ │ │ └── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── multi_discrete.py │ │ │ │ ├── popart.py │ │ │ │ ├── separated_buffer.py │ │ │ │ ├── util.py │ │ │ │ └── valuenorm.py │ │ ├── ddpg │ │ │ ├── __init__.py │ │ │ ├── ddpg.py │ │ │ ├── module.py │ │ │ └── storage.py │ │ ├── maddpg │ │ │ ├── __init__.py │ │ │ ├── module.py │ │ │ ├── runner.py │ │ │ └── storage.py │ │ ├── ppo │ │ │ ├── __init__.py │ │ │ └── ppo │ │ │ │ ├── __init__.py │ │ │ │ ├── module.py │ │ │ │ ├── ppo.py │ │ │ │ └── storage.py │ │ ├── sac │ │ │ ├── __init__.py │ │ │ ├── module.py │ │ │ ├── sac.py │ │ │ └── storage.py │ │ ├── td3 │ │ │ ├── __init__.py │ │ │ ├── module.py │ │ │ ├── storage.py │ │ │ └── td3.py │ │ ├── trpo │ │ │ ├── __init__.py │ │ │ ├── module.py │ │ │ ├── storage.py │ │ │ └── trpo.py │ │ └── utils │ │ │ ├── act.py │ │ │ ├── cnn.py │ │ │ ├── distributions.py │ │ │ ├── maniskill_learn │ │ │ ├── __init__.py │ │ │ ├── apis │ │ │ │ ├── __init__.py │ │ │ │ └── train_rl.py │ │ │ ├── methods │ │ │ │ ├── __init__.py │ │ │ │ ├── brl │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── bc.py │ │ │ │ │ ├── bcq.py │ │ │ │ │ ├── cql.py │ │ │ │ │ └── td3_bc.py │ │ │ │ ├── builder.py │ │ │ │ └── mfrl │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── curl.py │ │ │ │ │ ├── curl_old.py │ │ │ │ │ ├── gail.py │ │ │ │ │ ├── sac.py │ │ │ │ │ ├── sac_bc.py │ │ │ │ │ └── td3.py │ │ │ ├── networks │ │ │ │ ├── __init__.py │ │ │ │ ├── backbones │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── mlp.py │ │ │ │ │ ├── nn_utils.py │ │ │ │ │ ├── pointnet.py │ │ │ │ │ ├── transformer.py │ │ │ │ │ └── vae.py │ │ │ │ ├── builder.py │ │ │ │ ├── dense_heads │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── deterministic.py │ │ │ │ │ └── gaussian.py │ │ │ │ ├── modules │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── activation.py │ │ │ │ │ ├── attention.py │ │ │ │ │ ├── conv.py │ │ │ │ │ ├── conv_module.py │ │ │ │ │ ├── norm.py │ │ │ │ │ ├── padding.py │ │ │ │ │ └── weight_init.py │ │ │ │ ├── policy_network │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── continuous_policy.py │ │ │ │ │ └── vae_policy.py │ │ │ │ ├── utils.py │ │ │ │ └── value_network │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── continuous_value.py │ │ │ ├── optimizers │ │ │ │ ├── __init__.py │ │ │ │ ├── builder.py │ │ │ │ └── default_constructor.py │ │ │ ├── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── data │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── compression.py │ │ │ │ │ ├── concat.py │ │ │ │ │ ├── converter.py │ │ │ │ │ ├── dict_array.py │ │ │ │ │ ├── dict_utils.py │ │ │ │ │ ├── filtering.py │ │ │ │ │ ├── flatten.py │ │ │ │ │ ├── list_utils.py │ │ │ │ │ ├── padding.py │ │ │ │ │ ├── shape_utils.py │ │ │ │ │ ├── shuffle.py │ │ │ │ │ ├── string_utils.py │ │ │ │ │ ├── type.py │ │ │ │ │ └── wrapper.py │ │ │ │ ├── external │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── web_utils.py │ │ │ │ ├── fileio │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── h5_utils.py │ │ │ │ │ ├── hash_utils.py │ │ │ │ │ └── serialization │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── handlers │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── base.py │ │ │ │ │ │ ├── csv_handler.py │ │ │ │ │ │ └── pickle_handler.py │ │ │ │ │ │ ├── io.py │ │ │ │ │ │ └── utils.py │ │ │ │ ├── math │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── split_array.py │ │ │ │ ├── meta │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── collect_env.py │ │ │ │ │ ├── config.py │ │ │ │ │ ├── logger.py │ │ │ │ │ ├── magic_utils.py │ │ │ │ │ ├── module_utils.py │ │ │ │ │ ├── path_utils.py │ │ │ │ │ ├── process_utils.py │ │ │ │ │ ├── random_utils.py │ │ │ │ │ ├── registry.py │ │ │ │ │ └── timer.py │ │ │ │ └── torch │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── checkpoint.py │ │ │ │ │ ├── cuda_utils.py │ │ │ │ │ ├── distributed_utils.py │ │ │ │ │ ├── misc.py │ │ │ │ │ ├── module_utils.py │ │ │ │ │ ├── ops.py │ │ │ │ │ └── tensorboard │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── tensorboard_logger.py │ │ │ └── version.py │ │ │ ├── mlp.py │ │ │ ├── model_3d.py │ │ │ ├── pointnet.py │ │ │ ├── rnn.py │ │ │ └── util.py │ │ ├── tasks │ │ ├── __init__.py │ │ ├── franka_cabinet.py │ │ ├── franka_cabinet_PC_partial.py │ │ ├── franka_cabinet_PC_partial_cp_map.py │ │ ├── franka_cabinet_PC_partial_cp_state.py │ │ ├── franka_cabinet_PC_where2act.py │ │ ├── franka_cabinet_real_world.py │ │ ├── franka_cabinet_where2act.py │ │ ├── franka_chair.py │ │ ├── franka_chair_PC_partial.py │ │ ├── franka_chair_PC_partial_cp_map.py │ │ ├── franka_chair_PC_partial_multi_agent.py │ │ ├── franka_chair_realworld.py │ │ ├── franka_grasp.py │ │ ├── franka_grasp_PC_partial.py │ │ ├── franka_pap.py │ │ ├── franka_pap_partial.py │ │ ├── hand_base │ │ │ ├── __init__.py │ │ │ ├── base_task.py │ │ │ ├── multi_vec_task.py │ │ │ └── vec_task.py │ │ └── image_wrapper.py │ │ └── utils │ │ ├── config.py │ │ ├── contact_buffer.py │ │ ├── gpu_mem_track.py │ │ ├── logger │ │ ├── plotter.py │ │ └── tools.py │ │ ├── o3dviewer.py │ │ ├── parse_args_with_hydra.py │ │ ├── parse_task.py │ │ ├── process_marl.py │ │ ├── process_sarl.py │ │ ├── time_counter.py │ │ ├── torch_jit_utils.py │ │ ├── util.py │ │ └── visualization_utils.py ├── ManiSkill-Learn │ ├── LICENSE │ ├── README.md │ ├── baseline_results.png │ ├── configs │ │ ├── _base_ │ │ │ ├── bc │ │ │ │ ├── bc.py │ │ │ │ ├── bc_mani_skill.py │ │ │ │ ├── bc_mani_skill_pointnet.py │ │ │ │ ├── bc_mani_skill_pointnet_seg.py │ │ │ │ └── bc_mani_skill_pointnet_transformer.py │ │ │ ├── bcq │ │ │ │ ├── bcq.py │ │ │ │ ├── bcq_mani_skill.py │ │ │ │ ├── bcq_mani_skill_pointnet.py │ │ │ │ └── bcq_mani_skill_pointnet_transformer.py │ │ │ ├── cql │ │ │ │ ├── cql.py │ │ │ │ ├── cql_mani_skill.py │ │ │ │ ├── cql_mani_skill_pointnet.py │ │ │ │ └── cql_mani_skill_pointnet_transformer.py │ │ │ ├── sac │ │ │ │ ├── sac.py │ │ │ │ └── sac_mani_skill_mlp.py │ │ │ └── td3_bc │ │ │ │ ├── td3_bc.py │ │ │ │ ├── td3_bc_mani_skill.py │ │ │ │ ├── td3_bc_mani_skill_pointnet.py │ │ │ │ └── td3_bc_mani_skill_pointnet_transformer.py │ │ ├── bc │ │ │ ├── mani_skill_point_cloud.py │ │ │ ├── mani_skill_point_cloud_seg.py │ │ │ ├── mani_skill_point_cloud_transformer.py │ │ │ ├── mani_skill_point_cloud_transformer_disk.py │ │ │ ├── mani_skill_state.py │ │ │ └── mani_skill_state_multiple_datasets.py │ │ ├── bcq │ │ │ ├── mani_skill_point_cloud.py │ │ │ ├── mani_skill_point_cloud_transformer.py │ │ │ └── mani_skill_state.py │ │ ├── cql │ │ │ ├── mani_skill_point_cloud.py │ │ │ ├── mani_skill_point_cloud_transformer.py │ │ │ └── mani_skill_state.py │ │ ├── sac │ │ │ └── sac_mani_skill_state_1M_train.py │ │ └── td3_bc │ │ │ ├── mani_skill_point_cloud.py │ │ │ ├── mani_skill_point_cloud_transformer.py │ │ │ └── mani_skill_state.py │ ├── example_mani_skill_data │ │ └── README.md │ ├── full_mani_skill_data │ │ └── README.md │ ├── full_mani_skill_state_data │ │ └── README.md │ ├── mani_skill_learn │ │ ├── __init__.py │ │ ├── apis │ │ │ ├── __init__.py │ │ │ └── train_rl.py │ │ ├── methods │ │ │ ├── __init__.py │ │ │ ├── brl │ │ │ │ ├── __init__.py │ │ │ │ ├── bc.py │ │ │ │ ├── bcq.py │ │ │ │ ├── cql.py │ │ │ │ └── td3_bc.py │ │ │ ├── builder.py │ │ │ └── mfrl │ │ │ │ ├── __init__.py │ │ │ │ ├── sac.py │ │ │ │ └── td3.py │ │ ├── networks │ │ │ ├── __init__.py │ │ │ ├── backbones │ │ │ │ ├── __init__.py │ │ │ │ ├── mlp.py │ │ │ │ ├── nn_utils.py │ │ │ │ ├── pointnet.py │ │ │ │ ├── transformer.py │ │ │ │ └── vae.py │ │ │ ├── builder.py │ │ │ ├── dense_heads │ │ │ │ ├── __init__.py │ │ │ │ ├── deterministic.py │ │ │ │ └── gaussian.py │ │ │ ├── modules │ │ │ │ ├── __init__.py │ │ │ │ ├── activation.py │ │ │ │ ├── attention.py │ │ │ │ ├── conv.py │ │ │ │ ├── conv_module.py │ │ │ │ ├── norm.py │ │ │ │ ├── padding.py │ │ │ │ └── weight_init.py │ │ │ ├── policy_network │ │ │ │ ├── __init__.py │ │ │ │ ├── continuous_policy.py │ │ │ │ └── vae_policy.py │ │ │ ├── utils.py │ │ │ └── value_network │ │ │ │ ├── __init__.py │ │ │ │ └── continuous_value.py │ │ ├── optimizers │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ └── default_constructor.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── data │ │ │ │ ├── __init__.py │ │ │ │ ├── compression.py │ │ │ │ ├── concat.py │ │ │ │ ├── converter.py │ │ │ │ ├── dict_array.py │ │ │ │ ├── dict_utils.py │ │ │ │ ├── filtering.py │ │ │ │ ├── flatten.py │ │ │ │ ├── list_utils.py │ │ │ │ ├── padding.py │ │ │ │ ├── shape_utils.py │ │ │ │ ├── shuffle.py │ │ │ │ ├── string_utils.py │ │ │ │ ├── type.py │ │ │ │ └── wrapper.py │ │ │ ├── external │ │ │ │ ├── __init__.py │ │ │ │ └── web_utils.py │ │ │ ├── fileio │ │ │ │ ├── __init__.py │ │ │ │ ├── h5_utils.py │ │ │ │ ├── hash_utils.py │ │ │ │ └── serialization │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── handlers │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── base.py │ │ │ │ │ ├── csv_handler.py │ │ │ │ │ └── pickle_handler.py │ │ │ │ │ ├── io.py │ │ │ │ │ └── utils.py │ │ │ ├── math │ │ │ │ ├── __init__.py │ │ │ │ └── split_array.py │ │ │ ├── meta │ │ │ │ ├── __init__.py │ │ │ │ ├── collect_env.py │ │ │ │ ├── config.py │ │ │ │ ├── logger.py │ │ │ │ ├── magic_utils.py │ │ │ │ ├── module_utils.py │ │ │ │ ├── path_utils.py │ │ │ │ ├── process_utils.py │ │ │ │ ├── random_utils.py │ │ │ │ ├── registry.py │ │ │ │ └── timer.py │ │ │ └── torch │ │ │ │ ├── __init__.py │ │ │ │ ├── checkpoint.py │ │ │ │ ├── cuda_utils.py │ │ │ │ ├── distributed_utils.py │ │ │ │ ├── misc.py │ │ │ │ ├── module_utils.py │ │ │ │ ├── ops.py │ │ │ │ └── tensorboard │ │ │ │ ├── __init__.py │ │ │ │ └── tensorboard_logger.py │ │ └── version.py │ ├── requirements.txt │ ├── scripts │ │ ├── docker │ │ │ ├── Dockerfile │ │ │ └── build_docker.sh │ │ ├── full_mani_skill_example │ │ │ ├── eval_bc_example.sh │ │ │ ├── run_bc.sh │ │ │ ├── run_bcq.sh │ │ │ ├── run_cql.sh │ │ │ ├── run_td3_bc.sh │ │ │ └── run_with_chunked_dataset.sh │ │ ├── simple_mani_skill_example │ │ │ ├── convert_state_to_pcd.sh │ │ │ ├── eval_bc_example.sh │ │ │ ├── run_bc.sh │ │ │ ├── run_bcq.sh │ │ │ ├── run_cql.sh │ │ │ ├── run_td3_bc.sh │ │ │ └── run_with_chunked_dataset.sh │ │ └── train_rl_agent │ │ │ └── run_SAC.sh │ ├── setup.py │ ├── submission_example │ │ ├── environment.yml │ │ └── user_solution.py │ └── tools │ │ ├── all_data_files.csv │ │ ├── check_md5.py │ │ ├── convert_state.py │ │ ├── run_rl.py │ │ └── split_datasets.py ├── Pointnet2_PyTorch │ ├── .gitignore │ ├── .pre-commit-config.yaml │ ├── .travis.yml │ ├── MANIFEST.in │ ├── README.rst │ ├── UNLICENSE │ ├── pointnet2 │ │ ├── __init__.py │ │ ├── _version.py │ │ ├── config │ │ │ ├── config.yaml │ │ │ ├── model │ │ │ │ ├── msg.yaml │ │ │ │ └── ssg.yaml │ │ │ ├── task │ │ │ │ ├── cls.yaml │ │ │ │ └── semseg.yaml │ │ │ └── task_model │ │ │ │ ├── cls-msg.yaml │ │ │ │ ├── cls-ssg.yaml │ │ │ │ ├── semseg-msg.yaml │ │ │ │ └── semseg-ssg.yaml │ │ ├── data │ │ │ ├── .gitignore │ │ │ ├── Indoor3DSemSegLoader.py │ │ │ ├── ModelNet40Loader.py │ │ │ ├── __init__.py │ │ │ └── data_utils.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── pointnet2_msg_cls.py │ │ │ ├── pointnet2_msg_sem.py │ │ │ ├── pointnet2_ssg_cls.py │ │ │ └── pointnet2_ssg_sem.py │ │ ├── train.py │ │ └── utils │ │ │ └── .gitignore │ ├── pointnet2_ops_lib │ │ ├── MANIFEST.in │ │ ├── pointnet2_ops │ │ │ ├── __init__.py │ │ │ ├── _ext-src │ │ │ │ ├── include │ │ │ │ │ ├── ball_query.h │ │ │ │ │ ├── cuda_utils.h │ │ │ │ │ ├── group_points.h │ │ │ │ │ ├── interpolate.h │ │ │ │ │ ├── sampling.h │ │ │ │ │ └── utils.h │ │ │ │ └── src │ │ │ │ │ ├── ball_query.cpp │ │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ │ ├── bindings.cpp │ │ │ │ │ ├── group_points.cpp │ │ │ │ │ ├── group_points_gpu.cu │ │ │ │ │ ├── interpolate.cpp │ │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ │ ├── sampling.cpp │ │ │ │ │ └── sampling_gpu.cu │ │ │ ├── _version.py │ │ │ ├── pointnet2_modules.py │ │ │ └── pointnet2_utils.py │ │ └── setup.py │ ├── pyproject.toml │ ├── requirements.txt │ ├── setup.py │ ├── tests │ │ ├── conftest.py │ │ ├── test_cls.py │ │ └── test_semseg.py │ └── tox.ini ├── README.md ├── cfg │ ├── open_door_expert.yaml │ ├── open_drawer_expert.yaml │ └── ppo_pc_pure │ │ └── config.yaml ├── dagger │ ├── eval.py │ ├── mp_eval_launcher.py │ ├── mp_wrapper.py │ ├── prepare_env.py │ ├── run_expert.py │ ├── slurm_launch_eval.py │ └── train.py ├── metrics.py ├── requirements.txt └── train.py ├── conf ├── encoder │ ├── impala.yaml │ ├── mvp.yaml │ ├── r3m.yaml │ ├── spawnnet.yaml │ ├── spawnnet_mvp.yaml │ ├── spawnnet_r3m.yaml │ └── vits8_8.yaml ├── eval_expert.yaml ├── hydra │ └── launcher │ │ └── slurm.yaml ├── isaacgym_train_impala.yaml ├── isaacgym_train_mvp_mlp.yaml ├── isaacgym_train_r3m_mlp.yaml ├── isaacgym_train_spawnnet.yaml ├── isaacgym_train_vit_mlp.yaml ├── policy │ └── mlp.yaml ├── xarm_train_dino.yaml ├── xarm_train_impala.yaml ├── xarm_train_mvp.yaml ├── xarm_train_r3m.yaml └── xarm_train_spawnnet.yaml ├── gdict ├── README.md ├── __init__.py ├── data │ ├── __init__.py │ ├── array_ops.py │ ├── compression.py │ ├── converter.py │ ├── dict_array.py │ ├── dict_utils.py │ ├── filtering.py │ ├── misc.py │ ├── seq_utils.py │ ├── string_utils.py │ ├── type_utils.py │ └── wrappers.py └── file │ ├── __init__.py │ ├── hdf5_utils.py │ ├── path_utils.py │ └── serialization │ ├── __init__.py │ ├── handlers │ ├── __init__.py │ ├── base.py │ ├── csv_handler.py │ ├── json_handler.py │ ├── pickle_handler.py │ ├── txt_handler.py │ └── yaml_handler.py │ ├── io.py │ └── utils.py ├── gpu_info.py ├── prepare.sh ├── requirements.txt ├── scripts ├── ablation_exps │ ├── abl_sim_spawnnet_depth_only.sh │ ├── abl_sim_spawnnet_last_only.sh │ ├── abl_sim_spawnnet_mvp.sh │ ├── abl_sim_spawnnet_no_dense.sh │ ├── abl_sim_spawnnet_noadapters.sh │ ├── abl_sim_spawnnet_pretrained_only.sh │ ├── abl_sim_spawnnet_r3m.sh │ └── abl_sim_spawnnet_rgb_only.sh ├── real_exps │ ├── profile_bc.sh │ ├── real_ablation.sh │ ├── train_bc_lfs.sh │ ├── train_bc_mvp.sh │ ├── train_bc_r3m.sh │ ├── train_bc_spawnnet.sh │ ├── train_bc_spawnnet_d.sh │ ├── train_bc_spawnnet_mvp.sh │ └── train_bc_spawnnet_r3m.sh └── sim_exps │ ├── lfs_rgb_nodepth.sh │ ├── lfs_rgbd_exp.sh │ ├── mvp_mlp_exp.sh │ ├── r3m_mlp_exp.sh │ ├── sim_debug.sh │ ├── sim_lfs_aug.sh │ ├── sim_mvp_mlp.sh │ ├── sim_r3m_mlp.sh │ ├── sim_spawnnet_dino.sh │ ├── sim_spawnnet_dino_withdepth.sh │ ├── sim_spawnnet_mvp.sh │ ├── sim_spawnnet_r3m.sh │ ├── spawnnet_exp.sh │ └── vit_mlp_exp.sh ├── setup.py └── simple_bc ├── _interfaces ├── README.md ├── encoder.py └── policy.py ├── constants.py ├── dataset ├── replay_dataset.py └── replay_online.py ├── encoder ├── __init__.py ├── impala.py ├── r3m_encoder.py ├── spawnnet │ ├── 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