├── .gitignore ├── .pre-commit-config.yaml ├── ALOHA.md ├── LIBERO.md ├── LICENSE ├── README.md ├── SETUP.md ├── experiments └── robot │ ├── aloha │ ├── aloha_utils.py │ ├── constants.py │ ├── preprocess_split_aloha_data.py │ ├── real_env.py │ ├── requirements_aloha.txt │ ├── robot_utils.py │ └── run_aloha_eval.py │ ├── libero │ ├── libero_requirements.txt │ ├── libero_utils.py │ ├── regenerate_libero_dataset.py │ ├── run_libero_eval.py │ └── sample_libero_spatial_observation.pkl │ ├── openvla_utils.py │ └── robot_utils.py ├── prismatic ├── __init__.py ├── conf │ ├── __init__.py │ ├── datasets.py │ ├── models.py │ └── vla.py ├── extern │ ├── __init__.py │ └── hf │ │ ├── __init__.py │ │ ├── configuration_prismatic.py │ │ ├── modeling_prismatic.py │ │ └── processing_prismatic.py ├── models │ ├── __init__.py │ ├── action_heads.py │ ├── backbones │ │ ├── __init__.py │ │ ├── llm │ │ │ ├── __init__.py │ │ │ ├── base_llm.py │ │ │ ├── llama2.py │ │ │ ├── mistral.py │ │ │ ├── phi.py │ │ │ └── prompting │ │ │ │ ├── __init__.py │ │ │ │ ├── base_prompter.py │ │ │ │ ├── llama2_chat_prompter.py │ │ │ │ ├── mistral_instruct_prompter.py │ │ │ │ ├── phi_prompter.py │ │ │ │ └── vicuna_v15_prompter.py │ │ └── vision │ │ │ ├── __init__.py │ │ │ ├── base_vision.py │ │ │ ├── clip_vit.py │ │ │ ├── dinoclip_vit.py │ │ │ ├── dinosiglip_vit.py │ │ │ ├── dinov2_vit.py │ │ │ ├── in1k_vit.py │ │ │ └── siglip_vit.py │ ├── film_vit_wrapper.py │ ├── load.py │ ├── materialize.py │ ├── projectors.py │ ├── registry.py │ ├── vlas │ │ ├── __init__.py │ │ └── openvla.py │ └── vlms │ │ ├── __init__.py │ │ ├── base_vlm.py │ │ └── prismatic.py ├── overwatch │ ├── __init__.py │ └── overwatch.py ├── preprocessing │ ├── __init__.py │ ├── datasets │ │ ├── __init__.py │ │ └── datasets.py │ ├── download.py │ └── materialize.py ├── py.typed ├── training │ ├── __init__.py │ ├── materialize.py │ ├── metrics.py │ ├── strategies │ │ ├── __init__.py │ │ ├── base_strategy.py │ │ ├── ddp.py │ │ └── fsdp.py │ └── train_utils.py ├── util │ ├── __init__.py │ ├── batching_utils.py │ ├── data_utils.py │ ├── nn_utils.py │ └── torch_utils.py └── vla │ ├── __init__.py │ ├── action_tokenizer.py │ ├── constants.py │ ├── datasets │ ├── __init__.py │ ├── datasets.py │ └── rlds │ │ ├── __init__.py │ │ ├── dataset.py │ │ ├── obs_transforms.py │ │ ├── oxe │ │ ├── __init__.py │ │ ├── configs.py │ │ ├── materialize.py │ │ ├── mixtures.py │ │ ├── transforms.py │ │ └── utils │ │ │ └── droid_utils.py │ │ ├── traj_transforms.py │ │ └── utils │ │ ├── __init__.py │ │ ├── data_utils.py │ │ ├── goal_relabeling.py │ │ └── task_augmentation.py │ └── materialize.py ├── pyproject.toml ├── scripts └── extern │ ├── convert_prismatic_weights_to_hf.py │ └── verify_prismatic.py └── vla-scripts ├── deploy.py ├── extern ├── convert_openvla_weights_to_hf.py └── verify_openvla.py ├── finetune.py └── merge_lora_weights_and_save.py /.gitignore: -------------------------------------------------------------------------------- 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