├── .gitignore ├── CODE_OF_CONDUCT.md ├── LICENSE ├── Makefile ├── README.md ├── SECURITY.md ├── action_model ├── __init__.py ├── action_model.py ├── diffusion_utils.py ├── gaussian_diffusion.py ├── models.py ├── respace.py └── timestep_sampler.py ├── conf ├── __init__.py └── vla.py ├── docker └── Dockerfile.train.multistage ├── pyproject.toml ├── scripts ├── aml │ ├── README.md │ ├── blobfuse_config.yaml │ ├── check_dataset_sizes.sh │ ├── download_with_gsutil.sh │ ├── finetune-job-config.yml │ ├── inference-job-config.yml │ ├── inference_aml.py │ ├── test_image.png │ └── train_aml.py ├── deploy.py └── train.py ├── sim_cogact ├── __init__.py ├── adaptive_ensemble.py ├── cogact_policy.py └── scripts │ ├── cogact_bridge.sh │ ├── cogact_drawer_variant_agg.sh │ ├── cogact_drawer_visual_matching.sh │ ├── cogact_move_near_variant_agg.sh │ ├── cogact_move_near_visual_matching.sh │ ├── cogact_pick_coke_can_variant_agg.sh │ ├── cogact_pick_coke_can_visual_matching.sh │ ├── cogact_put_in_drawer_variant_agg.sh │ ├── cogact_put_in_drawer_visual_matching.sh │ └── octo_bridge.sh ├── training ├── __init__.py ├── materialize.py ├── metrics.py └── strategies │ ├── __init__.py │ ├── base_strategy_cogact.py │ └── fsdp.py └── vla ├── __init__.py ├── cogactvla.py └── load.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/microsoft/CogACT/HEAD/.gitignore -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/microsoft/CogACT/HEAD/CODE_OF_CONDUCT.md -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/microsoft/CogACT/HEAD/LICENSE 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