├── .dockerignore ├── .gitattributes ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── .pylintrc ├── .style.yapf ├── .vscode ├── .gitignore └── launch.json.template ├── LICENSE.md ├── README.md ├── check_for_copyright.py ├── docker ├── Dockerfile.build_for_ngc ├── Dockerfile.mindmap_deps ├── build_images.sh ├── install_mindmap.sh ├── install_nvblox.sh ├── push_to_ngc.sh └── run_docker.sh ├── docs ├── Makefile ├── _ext │ └── mindmap_doc_tools.py ├── _static │ └── custom.css ├── conf.py ├── helpers.py ├── images │ ├── closed_loop_cube_stacking.gif │ ├── closed_loop_drill_in_box.gif │ ├── closed_loop_mug_in_drawer.gif │ ├── closed_loop_stick_in_bin.gif │ ├── cube_stacking_reconstruction.jpg │ ├── cube_stacking_task.jpg │ ├── drill_in_box_reconstruction.jpg │ ├── drill_in_box_task.jpg │ ├── mindmap_workflows.png │ ├── mug_in_drawer_reconstruction.jpg │ ├── mug_in_drawer_task.jpg │ ├── open_loop_cube_stacking.png │ ├── open_loop_cube_stacking_pov.png │ ├── open_loop_drill_in_box.png │ ├── open_loop_drill_in_box_pov.png │ ├── open_loop_mug_in_drawer.png │ ├── open_loop_mug_in_drawer_pov.png │ ├── open_loop_stick_in_bin.png │ ├── open_loop_stick_in_bin_pov.png │ ├── stick_in_bin_reconstruction.jpg │ ├── stick_in_bin_task.jpg │ ├── teaser_isaaclab.jpg │ ├── teaser_pov.jpg │ ├── teaser_reconstruction.png │ ├── teleop_view_cube_stacking.png │ ├── teleop_view_mug_in_drawer.png │ ├── xr_view_drill_in_box.png │ └── xr_view_stick_in_bin.png ├── index.rst ├── pages │ ├── closed_loop_evaluation.rst │ ├── create_task.rst │ ├── data_generation.rst │ ├── demo_recording.rst │ ├── download_datasets.rst │ ├── download_models.rst │ ├── example_workflows.rst │ ├── mindmap_tasks.rst │ ├── open_loop_evaluation.rst │ ├── parameters.rst │ ├── setup.rst │ └── training.rst ├── requirements.txt └── snippets │ ├── installation_required_snippet.rst │ └── parameter_note_snippet.rst ├── mindmap ├── __init__.py ├── cli │ ├── __init__.py │ └── args.py ├── closed_loop │ ├── __init__.py │ ├── closed_loop_mode.py │ ├── closed_loop_policy.py │ ├── evaluators │ │ ├── __init__.py │ │ ├── arm_evaluator.py │ │ ├── cube_stacking_evaluator.py │ │ ├── evaluator_base.py │ │ └── mug_in_drawer_evaluator.py │ ├── goals.py │ ├── gt_goals.py │ ├── intermediate_goals.py │ └── policies │ │ ├── goal_policy.py │ │ ├── ground_truth_policy.py │ │ ├── nvblox_diffuser_actor_policy.py │ │ └── policy_base.py ├── common_utils │ ├── __init__.py │ ├── asserts.py │ ├── demo_selection.py │ ├── system.py │ └── torch_utils.py ├── data_loading │ ├── __init__.py │ ├── batching.py │ ├── data_types.py │ ├── dataset.py │ ├── dataset_files_by_encoding_method.py │ ├── item_names.py │ ├── sample_transformer.py │ ├── sampling_weighting_type.py │ └── vertex_sampling.py ├── diffuser_actor │ ├── __init__.py │ ├── converter.py │ ├── diffuser_actor.py │ ├── diffusion_head.py │ ├── encoder.py │ ├── layers.py │ ├── multihead_custom_attention.py │ ├── multihead_flash_attention.py │ └── position_encodings.py ├── embodiments │ ├── __init__.py │ ├── arm │ │ ├── __init__.py │ │ ├── action.py │ │ ├── constants.py │ │ ├── controller.py │ │ ├── embodiment.py │ │ ├── estimator.py │ │ ├── gripper.py │ │ ├── keypose_estimation.py │ │ ├── observation.py │ │ ├── policy_state.py │ │ └── robot_state.py │ ├── controller_base.py │ ├── delay_based_estimator.py │ ├── embodiment_base.py │ ├── estimator_base.py │ ├── grasp_events.py │ ├── humanoid │ │ ├── __init__.py │ │ ├── action.py │ │ ├── constants.py │ │ ├── controller.py │ │ ├── embodiment.py │ │ ├── estimator.py │ │ ├── hand.py │ │ ├── joint_indices.py │ │ ├── keypose_estimation.py │ │ ├── observation.py │ │ ├── policy_state.py │ │ └── robot_state.py │ ├── keypose_estimation_base.py │ ├── observation_base.py │ ├── state_base.py │ └── task_to_embodiment.py ├── geometry │ ├── __init__.py │ ├── pytorch3d_transforms.py │ ├── transforms.py │ └── utils.py ├── image_processing │ ├── __init__.py │ ├── backprojection.py │ ├── depth_noise.py │ ├── feature_extraction.py │ ├── image_conversions.py │ ├── image_mask_operations.py │ └── pca.py ├── isaaclab_utils │ ├── __init__.py │ ├── environments.py │ ├── isaaclab_camera_handler.py │ ├── isaaclab_datagen_utils.py │ ├── isaaclab_writer.py │ ├── render_settings.py │ └── simulation_app.py ├── keyposes │ ├── __init__.py │ ├── keypose_detection_mode.py │ └── task_to_default_keypose_params.py ├── mapping │ ├── __init__.py │ ├── helpers │ │ ├── __init__.py │ │ ├── nvblox_input_helpers.py │ │ ├── nvblox_mapping_helpers.py │ │ ├── nvblox_output_helpers.py │ │ └── nvblox_to_disk_helpers.py │ ├── isaaclab_nvblox_mapper.py │ └── nvblox_mapper_constants.py ├── model_utils │ ├── __init__.py │ ├── checkpoint.py │ ├── distributed_training.py │ ├── loss.py │ ├── model.py │ ├── multi_gpu.py │ ├── normalization.py │ ├── relative_conversions.py │ └── task_to_predict_head_yaw.py ├── paper │ ├── __init__.py │ ├── architecture_diagram │ │ ├── README.md │ │ ├── architecture_diagram.py │ │ └── input │ │ │ └── viewpoint.json │ ├── reconstructions │ │ ├── README.md │ │ ├── download_data.sh │ │ └── generate_reconstruction_figures.py │ ├── teaser │ │ ├── README.md │ │ ├── __init__.py │ │ ├── convert_maps_usd.py │ │ ├── start_isaac_sim_for_rendering.sh │ │ └── utils │ │ │ ├── __init__.py │ │ │ └── utils.py │ └── utils │ │ ├── __init__.py │ │ └── utils.py ├── run_closed_loop_policy.py ├── run_isaaclab_datagen.py ├── run_open_loop_policy.py ├── run_training.py ├── run_validate_demos.py ├── scripts │ ├── __init__.py │ ├── benchmark_decompression.py │ ├── extract_fpn_from_model.py │ ├── extract_image_features.py │ ├── extract_single_demo_from_hdf5.py │ ├── find_spacemouse.py │ ├── make_mp4_from_dataset.py │ ├── merge_hdf5_files.py │ ├── plot_humanoid_keyposes.py │ ├── print_checkpoint_iters.py │ ├── publish_closed_loop_eval.py │ ├── tar_demos.py │ ├── untar_demos.py │ ├── video_from_depth.py │ ├── visualize_keyposes.py │ └── visualize_nvblox_tensors.py ├── tasks │ ├── __init__.py │ ├── task_definitions │ │ ├── __init__.py │ │ ├── cube_stacking │ │ │ ├── __init__.py │ │ │ ├── config │ │ │ │ ├── __init__.py │ │ │ │ └── franka │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── stack_ik_rel_env_cfg.py │ │ │ └── mdp │ │ │ │ ├── __init__.py │ │ │ │ └── franka_stack_events.py │ │ ├── drill_in_box │ │ │ ├── __init__.py │ │ │ ├── config │ │ │ │ ├── __init__.py │ │ │ │ └── gr1 │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── drill_in_box_gr1_env_cfg.py │ │ │ │ │ └── mdp │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── observations.py │ │ │ │ │ ├── target_side.py │ │ │ │ │ └── terminations.py │ │ │ └── drill_in_box_env_cfg.py │ │ ├── mimic_envs │ │ │ ├── __init__.py │ │ │ ├── drill_in_box_gr1_mimic_env.py │ │ │ ├── drill_in_box_gr1_mimic_env_cfg.py │ │ │ ├── mug_in_drawer_franka_mimic_env.py │ │ │ ├── mug_in_drawer_franka_mimic_env_cfg.py │ │ │ ├── stick_in_bin_gr1_mimic_env.py │ │ │ └── stick_in_bin_gr1_mimic_env_cfg.py │ │ ├── mug_in_drawer │ │ │ ├── __init__.py │ │ │ ├── config │ │ │ │ ├── __init__.py │ │ │ │ └── franka │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── agents │ │ │ │ │ └── __init__.py │ │ │ │ │ └── mug_in_drawer_franka_env_cfg.py │ │ │ ├── mdp │ │ │ │ ├── __init__.py │ │ │ │ ├── mug_in_drawer_events.py │ │ │ │ ├── observations.py │ │ │ │ └── terminations.py │ │ │ └── mug_in_drawer_env_cfg.py │ │ └── stick_in_bin │ │ │ ├── __init__.py │ │ │ ├── config │ │ │ ├── __init__.py │ │ │ └── gr1 │ │ │ │ ├── __init__.py │ │ │ │ ├── mdp │ │ │ │ ├── __init__.py │ │ │ │ ├── observations.py │ │ │ │ └── terminations.py │ │ │ │ └── stick_in_bin_gr1_env_cfg.py │ │ │ └── stick_in_bin_env_cfg.py │ ├── task_success.py │ └── tasks.py ├── tests │ ├── README.md │ ├── __init_.py │ ├── baseline_data │ │ ├── drill_in_box │ │ │ └── demo_00000.tar │ │ └── franka │ │ │ └── demo_00000.tar │ ├── conftest.py │ ├── test_attention_masking.py │ ├── test_closed_loop_policy.py │ ├── test_data │ │ ├── 0000.table_rgb.png │ │ ├── 0003.gripper_history.npy │ │ ├── 0003.gt_gripper_pred.npy │ │ ├── 0003.robot_state.npy │ │ ├── 1_demo_drill_in_box.hdf5 │ │ ├── 1_demo_rgbd_caminfo.hdf5 │ │ ├── CLIP_RESNET50_FPN.zst │ │ ├── DINO_V2_VITS14.zst │ │ ├── RADIO_V25_B.zst │ │ ├── RADIO_V25_H.zst │ │ ├── RGB.zst │ │ └── demo_00000 │ │ │ ├── .gitkeep │ │ │ └── 0000.robot_state.npy │ ├── test_distributed_sampling.py │ ├── test_e2e.py │ ├── test_feature_extraction.py │ ├── test_gt_policy.py │ ├── test_image_mask_operations.py │ ├── test_isaaclab_shutdown.py │ ├── test_keypose_detection.py │ ├── test_normalization.py │ ├── test_plot_humanoid_keyposes.py │ ├── test_random_transform_augmentation.py │ ├── test_relative_conversions.py │ ├── test_states.py │ ├── test_tar_untar.py │ ├── test_vertex_sampling.py │ └── utils │ │ ├── __init__.py │ │ ├── comparisons.py │ │ ├── constants.py │ │ ├── e2e_helpers.py │ │ └── simulation_runner.py └── visualization │ ├── __init__.py │ ├── color_maps │ ├── __init__.py │ ├── color_map.py │ └── color_map_green_pink_tones.py │ ├── isaac_lab_visualization.py │ ├── tensor_visualizer.py │ ├── utils.py │ ├── visualization.py │ └── visualizer.py ├── mindmap_osmo ├── __init__.py ├── download_checkpoints.py ├── submit_datagen_workflow.py ├── submit_e2e_workflow.py ├── submit_evaluation_workflow.py ├── submit_train_and_eval_workflow.py ├── submit_training_workflow.py ├── tasks │ ├── base_task.py │ ├── closed_loop_task.py │ ├── datagen_task.py │ └── training_task.py ├── tests │ ├── __init__.py │ ├── test_demo_ranges.py │ └── test_workflow_generation.py ├── workflow_specs │ └── .gitkeep └── workflow_utils │ ├── __init__.py │ ├── app_arg_overrides.py │ ├── arg_parsing.py │ ├── code_snippets.py │ ├── inferred_args.py │ ├── workflow.py │ ├── workflow_args.py │ ├── workflow_constants.py │ └── workflow_types.py ├── pyproject.toml ├── setup.py └── submodules └── mindmap-v1.0.0_IsaacLab-v2.1.0.patch /.dockerignore: -------------------------------------------------------------------------------- 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