├── .gitignore ├── .pre-commit-config.yaml ├── Dockerfile ├── Dockerfile.legacy ├── LICENSE ├── Makefile ├── README.md ├── assets ├── handal_090002.png ├── handal_090002_visualized.png ├── put pepper in pan.png ├── put pepper in pan_visualized.png ├── put the red block on top of the yellow block.png ├── put the red block on top of the yellow block_visualized.png ├── r1_framework_readme.jpg ├── roborefit_18992.png └── roborefit_18992_visualized.png ├── eval ├── 3d_dataset.json ├── hf_inference_3d.py ├── hf_inference_affordance.py ├── hf_inference_blink.py ├── hf_inference_crpe.py ├── hf_inference_cvbench.py ├── hf_inference_embspatial.py ├── hf_inference_roborefit.py ├── hf_inference_sat.py ├── hf_inference_vabench_point.py ├── hf_inference_vabench_visual_trace.py ├── hf_inference_where2place.py └── roborefit_test.json ├── exsample_data ├── handal_090002.png ├── put pepper in pan.png ├── put the red block on top of the yellow block.png └── roborefit_18992.png ├── inference_example.py ├── pyproject.toml ├── requirements.txt ├── scripts ├── config_stage1.yaml ├── config_stage2.yaml ├── model_merger.py ├── stage_1_embodied_r1.sh └── stage_2_embodied_r1.sh ├── setup.py └── verl ├── __init__.py ├── models ├── __init__.py ├── monkey_patch.py └── transformers │ ├── __init__.py │ ├── flash_attention_utils.py │ └── qwen2_vl.py ├── protocol.py ├── single_controller ├── __init__.py ├── base │ ├── __init__.py │ ├── decorator.py │ ├── register_center │ │ ├── __init__.py │ │ └── ray.py │ ├── worker.py │ └── worker_group.py └── ray │ ├── __init__.py │ └── base.py ├── trainer ├── __init__.py ├── config.py ├── core_algos.py ├── main.py ├── metrics.py └── ray_trainer.py ├── utils ├── __init__.py ├── checkpoint │ ├── __init__.py │ ├── checkpoint_manager.py │ └── fsdp_checkpoint_manager.py ├── dataset.py ├── flops_counter.py ├── fsdp_utils.py ├── logger │ ├── __init__.py │ ├── gen_logger.py │ └── logger.py ├── model_utils.py ├── py_functional.py ├── reward_score │ ├── __init__.py │ ├── embodiedr1.py │ ├── embodiedr1_3d.py │ ├── embodiedr1_nothinking.py │ ├── math.py │ └── r1v.py ├── seqlen_balancing.py ├── tokenizer.py ├── torch_dtypes.py ├── torch_functional.py └── ulysses.py └── workers ├── __init__.py ├── actor ├── __init__.py ├── base.py ├── config.py └── dp_actor.py ├── config.py ├── critic ├── __init__.py ├── base.py ├── config.py └── dp_critic.py ├── fsdp_workers.py ├── reward ├── __init__.py ├── config.py └── custom.py ├── rollout ├── __init__.py ├── base.py ├── config.py └── vllm_rollout_spmd.py └── sharding_manager ├── __init__.py ├── base.py ├── fsdp_ulysses.py └── fsdp_vllm.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pickxiguapi/Embodied-R1/HEAD/.gitignore -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- 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