├── .gitignore ├── README.md ├── __init__.py ├── autoencoder ├── __init__.py ├── autoencoder_models.py ├── dataset.py ├── evaluate_spatial_autoencoder.py └── train_autoencoder.py ├── camera_config └── d415_01 │ └── camera_info.yaml ├── config ├── setup_environment.sh └── simple_config.yaml ├── controller ├── __init__.py ├── controller.py ├── msgpack_test.py ├── plan_container.py ├── test_convert.py ├── zmq_client.py ├── zmq_server.py ├── zmq_server_dummy.py └── zmq_utils.py ├── dataset ├── __init__.py ├── drake_sim_episode_reader.py ├── dynamic_spartan_episode_reader.py ├── episode_container.py ├── episode_dataset.py ├── episode_dataset_bak.py ├── episode_reader.py ├── function_factory.py ├── mpc_dataset.py ├── online_episode_reader.py ├── scripts │ └── test_dataset.py ├── utils.py ├── vis_utils.py └── vision_function_factory.py ├── dense_correspondence ├── __init__.py ├── dc_drake_sim_episode_reader.py ├── descriptor_net.py ├── image_dataset.py ├── keypoint_selection.py └── precompute_descriptors.py ├── doc ├── README.md ├── coordinate_conventions.md ├── dataset.md ├── dynamics.md ├── images │ └── OpenCVcoordinates.png ├── pusher_slider.md └── unsupervised_keypoint_detection.md ├── docker ├── docker_build.py ├── docker_run.py ├── entrypoint.sh ├── install_PyRep.sh ├── install_RLBench.sh ├── install_dependencies.sh ├── install_drake.sh ├── install_meshcat.sh ├── install_pytorch.sh ├── install_vrep.sh ├── key_dynam_18_04.dockerfile └── terminator_config ├── dynamics ├── __init__.py ├── archive │ ├── __init__.py │ ├── config.py │ ├── data.py │ ├── eval.py │ ├── models_dy.py │ ├── physics_engine.py │ ├── scripts │ │ ├── eval_BallAct.sh │ │ └── train_BallAct.sh │ ├── train.py │ └── utils.py ├── data_normalizer.py ├── models_dy.py └── utils.py ├── envs ├── __init__.py ├── drake_mugs.py ├── drake_pusher_slider.py ├── drake_sim_diagram_wrapper.py ├── drake_utils.py ├── pusher_slider.py ├── scripts │ ├── run_drake_mugs.py │ ├── run_drake_pusher_slider.py │ └── run_pusher_slider.py └── utils.py ├── eval ├── __init__.py ├── eval_dynamics_pusher_slider.py ├── mpc.py ├── mpc_eval_drake_pusher_slider.py └── utils.py ├── experiments ├── __init__.py ├── drake_pusher_slider │ ├── DD_utils.py │ ├── GT_3D_utils.py │ ├── __init__.py │ ├── autoencoder_utils.py │ ├── collect_episodes.py │ ├── config_DD_3D.yaml │ ├── config_GT_3D.yaml │ ├── config_autoencoder.yaml │ ├── config_spatial_autoencoder.yaml │ ├── config_transporter_3D.yaml │ ├── env_config.yaml │ ├── eval_config.yaml │ ├── heatmap_visualization.py │ ├── integral_heatmap_3d.yaml │ ├── mpc_eval_figures.ipynb │ ├── train_and_evaluate.py │ ├── transporter_utils.py │ ├── utils.py │ ├── visualize_mpc_controller.py │ ├── visualize_mpc_z_state.py │ └── visualize_mpc_z_state_dev.py ├── exp_18_box_on_side │ ├── __init__.py │ ├── collect_episodes.py │ ├── config.yaml │ ├── eval_config.yaml │ ├── heatmap_visualization.py │ ├── process_dense_descriptor_keypoints.py │ ├── process_dense_descriptor_keypoints_old.py │ ├── train_and_evaluate.py │ ├── train_dense_descriptors.py │ ├── train_transporter.py │ ├── utils.py │ └── visualize_mpc_z_state.py ├── exp_20_mugs │ ├── __init__.py │ ├── collect_episodes.py │ ├── config.yaml │ ├── heatmap_visualization.py │ ├── integral_heatmap_3d.yaml │ ├── mpc_eval_figures.ipynb │ ├── mugs.yaml │ ├── train_and_evaluate.py │ ├── utils.py │ └── visualize_mpc_z_state.py └── exp_22_push_box_hardware │ ├── __init__.py │ ├── compute_object_reference_pose.py │ ├── config_DD_3D.yaml │ ├── heatmap_visualization.py │ ├── integral_heatmap_3d.yaml │ ├── object_points_master.yaml │ ├── push_box_hardware_episodes_config.yaml │ ├── push_box_string_pull_episodes_config.yaml │ ├── run_zmq_controller.py │ ├── test_make_video.py │ ├── tmp │ ├── train_and_evaluate.py │ ├── utils.py │ ├── visualize_dynamics_model.py │ └── visualize_mpc_controller.py ├── external └── __init__.py ├── models ├── __init__.py └── model_builder.py ├── planner ├── __init__.py ├── planner_factory.py ├── planners.py └── utils.py ├── requirements.txt ├── scripts ├── __init__.py ├── add_key_dynam_to_pythonpath.sh ├── collect_pusher_slider_data.py ├── drake_pusher_slider_episode_collector.py ├── eval_dynamics_pusher_slider.py ├── hdf5_test.py ├── mpc_pusher_slider.py ├── run_precompute_descriptor_keypoints.py ├── run_precompute_descriptors.py ├── train_dynamics_pusher_slider.py ├── train_dynamics_pusher_slider_dev.py └── use_pyrep.sh ├── sim_assets ├── block_push.urdf ├── cracker_box │ ├── 003_cracker_box.sdf │ ├── 003_cracker_box_textured.mtl │ ├── 003_cracker_box_textured.obj │ └── 003_cracker_box_textured.png ├── extra_heavy_duty_table_surface_only_collision.sdf ├── gelatin_box │ ├── 009_gelatin_box.sdf │ ├── 009_gelatin_box_textured.mtl │ ├── 009_gelatin_box_textured.obj │ └── 009_gelatin_box_textured.png ├── mustard_bottle │ ├── 006_mustard_bottle.sdf │ ├── 006_mustard_bottle_textured.mtl │ ├── 006_mustard_bottle_textured.obj │ └── 006_mustard_bottle_textured.png ├── potted_meat_can │ ├── 010_potted_meat_can.sdf │ ├── 010_potted_meat_can_textured.mtl │ ├── 010_potted_meat_can_textured.obj │ └── 010_potted_meat_can_textured.png ├── sdf_helper.py ├── sugar_box │ ├── 004_sugar_box.sdf │ ├── 004_sugar_box_textured.mtl │ ├── 004_sugar_box_textured.obj │ └── 004_sugar_box_textured.png ├── tomato_soup_can │ ├── 005_tomato_soup_can.sdf │ ├── 005_tomato_soup_can_textured.mtl │ ├── 005_tomato_soup_can_textured.obj │ └── 005_tomato_soup_can_textured.png └── xy_slide.urdf ├── test ├── __init__.py ├── test_drake_sim_dataset.py └── test_drake_sim_episode_reader.py ├── training ├── __init__.py ├── train_autoencoder_dynamics.py ├── train_dynamics_pusher_slider.py ├── train_dynamics_pusher_slider_precomputed_keypoints.py ├── train_dynamics_pusher_slider_precomputed_keypoints_old.py ├── train_dynamics_pusher_slider_precomputed_keypoints_weighted.py ├── train_dynamics_pusher_slider_weight_matrix.py ├── train_explore_and_learn.py 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