├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── assets ├── demo_embedding1.gif ├── demo_embedding2.gif ├── demo_sampler1.gif ├── demo_sampler2.gif └── hcg.gif ├── core ├── __init__.py ├── agent.py ├── bc.py ├── common_utils.py ├── ddpg.py ├── dqn_hrl.py ├── load_tensorboard.py ├── loss.py ├── network_arch.py ├── networks.py ├── replay_memory.py ├── test_offline.py ├── test_realworld_ros_clutter.py ├── train_offline.py ├── train_online.py ├── trainer.py ├── traj.py └── utils.py ├── env ├── __init__.py ├── env_planner.py ├── models │ └── panda │ │ ├── meshes │ │ ├── collision │ │ │ ├── camera.stl │ │ │ ├── finger.obj │ │ │ ├── hand.obj │ │ │ ├── link0.obj │ │ │ ├── link1.obj │ │ │ ├── link2.obj │ │ │ ├── link3.obj │ │ │ ├── link4.obj │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ ├── link6.obj │ │ │ └── link7.obj │ │ └── visual │ │ │ ├── camera.DAE │ │ │ ├── colors.png │ │ │ ├── finger.mtl │ │ │ ├── finger.obj │ │ │ ├── hand.mtl │ │ │ ├── hand.obj │ │ │ ├── link1.mtl │ │ │ ├── link1.obj │ │ │ ├── link2.mtl │ │ │ ├── link2.obj │ │ │ ├── link3.mtl │ │ │ ├── link3.obj │ │ │ ├── link4.mtl │ │ │ ├── link4.obj │ │ │ ├── link5.mtl │ │ │ ├── link5.obj │ │ │ ├── link6.mtl │ │ │ └── link6.obj │ │ └── panda_gripper_hand_camera.urdf ├── panda_cluttered_scene.py └── panda_gripper_hand_camera.py ├── experiments ├── __init__.py ├── cfgs │ ├── bc_embedding_low_level.yaml │ ├── bc_sampler_restep.yaml │ ├── dqn_critic_hrl.yaml │ └── dqn_save_buffer.yaml ├── config.py ├── model_spec │ ├── rl_pointnet_model_spec.yaml │ └── rl_sampler_large_pointnet_model_spec.yaml ├── object_index │ ├── extra_shape.json │ ├── filter_shapenet.json │ ├── ycb_large.json │ └── ycb_large_scene.json └── scripts │ ├── download_data.sh │ ├── download_model.sh │ ├── download_offline_data.sh │ ├── test_demo.sh │ ├── test_ycb.sh │ ├── test_ycb_gen_12_mpc.sh │ ├── train_embedding_offline.sh │ ├── train_embedding_ray_offline.sh │ ├── train_ray_online_save_data.sh │ └── train_sampler_ray_online.sh └── 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