├── .gitignore ├── README.md ├── __init__.py ├── config ├── __init__.py ├── camera_info_d415_left.yaml ├── model │ ├── lstm_carrot_flip.yaml │ ├── lstm_sequence.yaml │ ├── lstm_sequence_push_box.yaml │ ├── mlp_stateless_position.yaml │ └── mlp_stateless_velocity.yaml ├── parameters.py └── task │ ├── down_and_right.yaml │ ├── empty_bag.yaml │ ├── flip_real_carrot.yaml │ ├── flip_real_right_boot.yaml │ ├── flip_real_right_boot_se2.yaml │ ├── flip_real_right_many_shoes_se2.yaml │ ├── flip_real_shoe.yaml │ ├── flip_real_single_shoe.yaml │ ├── flip_sugar.yaml │ ├── flip_sugar_2.yaml │ ├── flip_sugar_many.yaml │ ├── grab_plate.yaml │ ├── hang_mit_hat.yaml │ ├── knock_shoe.yaml │ ├── move_to_1_box.yaml │ ├── move_to_2_box.yaml │ ├── move_to_box.yaml │ ├── move_to_box_0710.yaml │ ├── move_to_box_0710_box_in_frame.yaml │ ├── move_to_box_0710_small.yaml │ ├── move_to_box_se2.yaml │ ├── move_to_box_se2_box_in_frame.yaml │ ├── move_to_box_se2_small.yaml │ ├── move_to_box_then_flip_0716.yaml │ ├── move_to_box_then_flip_0716_box_in_frame.yaml │ ├── move_to_box_then_flip_0716_box_in_frame_small.yaml │ ├── move_to_box_then_flip_7_22.yaml │ ├── move_to_box_then_flip_7_22_small.yaml │ ├── move_to_box_trunc_gauss_wait.yaml │ ├── pick_up_plate.yaml │ ├── push_box.yaml │ ├── push_box_small.yaml │ ├── push_sugar.yaml │ ├── real_push_box.yaml │ └── spin_sugar.yaml ├── dataset ├── __init__.py ├── compute_object_pose_distribution.py ├── compute_object_start_poses.py ├── compute_visible_logs.py ├── convex_hull_helper.py ├── dataset_utils.py ├── directory_structure.py ├── feature_saver.py ├── function_factory.py ├── imitation_episode.py ├── imitation_episode_dataset.py ├── imitation_episode_sequence_dataset.py ├── precompute_helper_dataset.py ├── simple_dataset_test.py └── statistics.py ├── deploy ├── __init__.py ├── ee_velocity_agent.py ├── lstm_ee_position_agent.py ├── mlp_ee_position_agent.py ├── ros_imitation_parser.py ├── ros_task_space_control_agent.py ├── software_safety.py └── utils.py ├── evaluation ├── __init__.py ├── dataframe_wrapper.py ├── move_to_box_evaluator.py ├── push_box_evaluator.py └── push_plate_evaluator.py ├── experiments ├── 01 │ ├── 01_mlp_stateless_position.yaml │ ├── experiment_01_plots-check.ipynb │ ├── experiment_01_plots.ipynb │ └── move_to_box_vision_comparison.py ├── 02 │ ├── 02_mlp_stateless_position.yaml │ ├── experiment_02_plots.ipynb │ ├── experiment_02_sample_complexity_plots.ipynb │ └── move_to_box_se2_sample_complexity.py ├── 03 │ ├── 03_lstm_sequence.yaml │ ├── experiment_03_plots.ipynb │ ├── push_box_vision_comparison.py │ └── push_box_vision_comparison_LSTM.py ├── 05 │ ├── 05_lstm_sequence.yaml │ ├── 05_lstm_sequence_original.yaml │ ├── experiment_05_plots.ipynb │ └── flip_box_vision_comparison_LSTM.py ├── 06 │ ├── 06_mlp_stateless_position.yaml │ └── push_plate_vision_comparison.py ├── __init__.py ├── lstm_grab_plate.yaml ├── lstm_real_MIT_hat.yaml ├── lstm_real_push_box.yaml ├── lstm_real_right_boot_se2.yaml ├── lstm_real_right_many_shoes_se2.yaml └── pose │ ├── pose_stateless.yaml │ └── train_pose.py ├── loss_functions ├── __init__.py └── loss_functions.py ├── model ├── __init__.py ├── don_spatial_softmax.py ├── load_and_run_model.py ├── lstm_standard.py ├── mlpstateless.py ├── model_based_vision.py ├── model_factory.py ├── spatial_autoencoder.py ├── train_autoencoder.py └── visuo_motor.py ├── nodes ├── ee_velocity_agent_node.py ├── lstm_ee_position_agent_node.py └── mlp_ee_position_agent_node.py ├── objects ├── __init__.py └── sugar_box.py ├── tasks ├── __init__.py ├── flip_box.py ├── move_to_box.py ├── push_box.py └── push_plate.py ├── test ├── test_flip_box_reward.py ├── test_imitation_episode.py └── test_visibility_checker.py ├── tools ├── convert_yaml_to_json.py ├── debug_plot.py ├── fix_unlogged_rotations.py └── log_plot.py ├── training ├── __init__.py ├── optimizer_schedulers.py ├── train_ee_velocity.py ├── train_lstm.py ├── train_mlp_position.py ├── train_pose_estimation.py ├── train_utils.py └── train_vis.py └── utils ├── __init__.py ├── utils.py ├── visibility_checker.py └── visibility_utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/peteflorence/visuomotor_correspondence/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/peteflorence/visuomotor_correspondence/HEAD/README.md -------------------------------------------------------------------------------- /__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /config/__init__.py: -------------------------------------------------------------------------------- 1 | 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