├── .gitignore ├── LICENSE.txt ├── README.md ├── __init__.py ├── assets ├── feedback.jpg ├── framework.png ├── github_logo.jpg └── platform.gif ├── d4rl ├── .gitignore ├── LICENSE ├── MANIFEST.in ├── README.md ├── d4rl │ ├── __init__.py │ ├── carla │ │ ├── __init__.py │ │ ├── carla_env.py │ │ ├── data_collection_agent_lane.py │ │ ├── data_collection_town.py │ │ └── town_agent.py │ ├── flow │ │ ├── __init__.py │ │ ├── bottleneck.py │ │ ├── merge.py │ │ └── traffic_light_grid.py │ ├── gym_bullet │ │ ├── __init__.py │ │ └── gym_envs.py │ ├── gym_minigrid │ │ ├── __init__.py │ │ ├── envs │ │ │ ├── __init__.py │ │ │ ├── empty.py │ │ │ └── fourrooms.py │ │ ├── fourroom_controller.py │ │ ├── minigrid.py │ │ ├── register.py │ │ ├── rendering.py │ │ ├── roomgrid.py │ │ ├── window.py │ │ └── wrappers.py │ ├── gym_mujoco │ │ ├── __init__.py │ │ └── gym_envs.py │ ├── hand_manipulation_suite │ │ ├── Adroit │ │ │ ├── .gitignore │ │ │ ├── Adroit_hand.xml │ │ │ ├── Adroit_hand_withOverlay.xml │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── gallery │ │ │ │ ├── news.JPG │ │ │ │ └── projects.JPG │ │ │ └── resources │ │ │ │ ├── assets.xml │ │ │ │ ├── chain.xml │ │ │ │ ├── chain1.xml │ │ │ │ ├── joint_position_actuation.xml │ │ │ │ ├── meshes │ │ │ │ ├── F1.stl │ │ │ │ ├── F2.stl │ │ │ │ ├── F3.stl │ │ │ │ ├── TH1_z.stl │ │ │ │ ├── TH2_z.stl │ │ │ │ ├── TH3_z.stl │ │ │ │ ├── arm_base.stl │ │ │ │ ├── arm_trunk.stl │ │ │ │ ├── arm_trunk_asmbly.stl │ │ │ │ ├── distal_ellipsoid.stl │ │ │ │ ├── elbow_flex.stl │ │ │ │ ├── elbow_rotate_motor.stl │ │ │ │ ├── elbow_rotate_muscle.stl │ │ │ │ ├── forearm_Cy_PlateAsmbly(muscle_cone).stl │ │ │ │ ├── forearm_Cy_PlateAsmbly.stl │ │ │ │ ├── forearm_PlateAsmbly.stl │ │ │ │ ├── forearm_electric.stl │ │ │ │ ├── forearm_electric_cvx.stl │ │ │ │ ├── forearm_muscle.stl │ │ │ │ ├── forearm_simple.stl │ │ │ │ ├── forearm_simple_cvx.stl │ │ │ │ ├── forearm_weight.stl │ │ │ │ ├── knuckle.stl │ │ │ │ ├── lfmetacarpal.stl │ │ │ │ ├── palm.stl │ │ │ │ ├── upper_arm.stl │ │ │ │ ├── upper_arm_asmbl_shoulder.stl │ │ │ │ ├── upper_arm_ass.stl │ │ │ │ └── wrist.stl │ │ │ │ ├── tendon_torque_actuation.xml │ │ │ │ └── textures │ │ │ │ ├── darkwood.png │ │ │ │ ├── dice.png │ │ │ │ ├── foil.png │ │ │ │ ├── marble.png │ │ │ │ ├── silverRaw.png │ │ │ │ ├── skin.png │ │ │ │ ├── square.png │ │ │ │ ├── wood.png │ │ │ │ └── woodb.png │ │ ├── __init__.py │ │ ├── assets │ │ │ ├── DAPG_Adroit.xml │ │ │ ├── DAPG_assets.xml │ │ │ ├── DAPG_door.xml │ │ │ ├── DAPG_hammer.xml │ │ │ ├── DAPG_pen.xml │ │ │ ├── DAPG_relocate.xml │ │ │ └── tasks.jpg │ │ ├── door_v0.py │ │ ├── hammer_v0.py │ │ ├── pen_v0.py │ │ └── relocate_v0.py │ ├── infos.py │ ├── kitchen │ │ ├── __init__.py │ │ ├── adept_envs │ │ │ ├── .pylintrc │ │ │ ├── .style.yapf │ │ │ ├── __init__.py │ │ │ ├── base_robot.py │ │ │ ├── franka │ │ │ │ ├── __init__.py │ │ │ │ ├── assets │ │ │ │ │ └── franka_kitchen_jntpos_act_ab.xml │ │ │ │ ├── kitchen_multitask_v0.py │ │ │ │ └── robot │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── franka_config.xml │ │ │ │ │ └── franka_robot.py │ │ │ ├── mujoco_env.py │ │ │ ├── robot_env.py │ │ │ ├── simulation │ │ │ │ ├── __init__.py │ │ │ │ ├── module.py │ │ │ │ ├── renderer.py │ │ │ │ └── sim_robot.py │ │ │ └── utils │ │ │ │ ├── __init__.py │ │ │ │ ├── config.py │ │ │ │ ├── configurable.py │ │ │ │ ├── constants.py │ │ │ │ ├── parse_demos.py │ │ │ │ └── quatmath.py │ │ ├── adept_models │ │ │ ├── .gitignore │ │ │ ├── CONTRIBUTING.public.md │ │ │ ├── LICENSE │ │ │ ├── README.public.md │ │ │ ├── __init__.py │ │ │ ├── kitchen │ │ │ │ ├── assets │ │ │ │ │ ├── backwall_asset.xml │ │ │ │ │ ├── backwall_chain.xml │ │ │ │ │ ├── counters_asset.xml │ │ │ │ │ ├── counters_chain.xml │ │ │ │ │ ├── hingecabinet_asset.xml │ │ │ │ │ ├── hingecabinet_chain.xml │ │ │ │ │ ├── kettle_asset.xml │ │ │ │ │ ├── kettle_chain.xml │ │ │ │ │ ├── microwave_asset.xml │ │ │ │ │ ├── microwave_chain.xml │ │ │ │ │ ├── oven_asset.xml │ │ │ │ │ ├── oven_chain.xml │ │ │ │ │ ├── slidecabinet_asset.xml │ │ │ │ │ └── slidecabinet_chain.xml │ │ │ │ ├── counters.xml │ │ │ │ ├── hingecabinet.xml │ │ │ │ ├── kettle.xml │ │ │ │ ├── kitchen.xml │ │ │ │ ├── meshes │ │ │ │ │ ├── burnerplate.stl │ │ │ │ │ ├── burnerplate_mesh.stl │ │ │ │ │ ├── cabinetbase.stl │ │ │ │ │ ├── cabinetdrawer.stl │ │ │ │ │ ├── cabinethandle.stl │ │ │ │ │ ├── countertop.stl │ │ │ │ │ ├── faucet.stl │ │ │ │ │ ├── handle2.stl │ │ │ │ │ ├── hingecabinet.stl │ │ │ │ │ ├── hingedoor.stl │ │ │ │ │ ├── hingehandle.stl │ │ │ │ │ ├── hood.stl │ │ │ │ │ ├── kettle.stl │ │ │ │ │ ├── kettlehandle.stl │ │ │ │ │ ├── knob.stl │ │ │ │ │ ├── lightswitch.stl │ │ │ │ │ ├── lightswitchbase.stl │ │ │ │ │ ├── micro.stl │ │ │ │ │ ├── microbutton.stl │ │ │ │ │ ├── microdoor.stl │ │ │ │ │ ├── microefeet.stl │ │ │ │ │ ├── microfeet.stl │ │ │ │ │ ├── microhandle.stl │ │ │ │ │ ├── microwindow.stl │ │ │ │ │ ├── oven.stl │ │ │ │ │ ├── ovenhandle.stl │ │ │ │ │ ├── oventop.stl │ │ │ │ │ ├── ovenwindow.stl │ │ │ │ │ ├── slidecabinet.stl │ │ │ │ │ ├── slidedoor.stl │ │ │ │ │ ├── stoverim.stl │ │ │ │ │ ├── tile.stl │ │ │ │ │ └── wall.stl │ │ │ │ ├── microwave.xml │ │ │ │ ├── oven.xml │ │ │ │ ├── slidecabinet.xml │ │ │ │ └── textures │ │ │ │ │ ├── marble1.png │ │ │ │ │ ├── metal1.png │ │ │ │ │ ├── tile1.png │ │ │ │ │ └── wood1.png │ │ │ └── scenes │ │ │ │ ├── basic_scene.xml │ │ │ │ └── textures │ │ │ │ ├── white_marble_tile.png │ │ │ │ └── white_marble_tile2.png │ │ ├── kitchen_envs.py │ │ └── third_party │ │ │ └── franka │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── assets │ │ │ ├── actuator0.xml │ │ │ ├── actuator1.xml │ │ │ ├── assets.xml │ │ │ ├── basic_scene.xml │ │ │ ├── chain0.xml │ │ │ ├── chain0_overlay.xml │ │ │ ├── chain1.xml │ │ │ └── teleop_actuator.xml │ │ │ ├── bi-franka_panda.xml │ │ │ ├── franka_panda.png │ │ │ ├── franka_panda.xml │ │ │ ├── franka_panda_teleop.xml │ │ │ └── meshes │ │ │ ├── collision │ │ │ ├── finger.stl │ │ │ ├── hand.stl │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link7.stl │ │ │ └── visual │ │ │ ├── finger.stl │ │ │ ├── hand.stl │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link7.stl │ ├── locomotion │ │ ├── __init__.py │ │ ├── ant.py │ │ ├── assets │ │ │ ├── ant.xml │ │ │ └── point.xml │ │ ├── common.py │ │ ├── generate_dataset.py │ │ ├── goal_reaching_env.py │ │ ├── maze_env.py │ │ ├── mujoco_goal_env.py │ │ ├── point.py │ │ ├── swimmer.py │ │ └── wrappers.py │ ├── offline_env.py │ ├── ope.py │ ├── pointmaze │ │ ├── __init__.py │ │ ├── dynamic_mjc.py │ │ ├── gridcraft │ │ │ ├── __init__.py │ │ │ ├── grid_env.py │ │ │ ├── grid_spec.py │ │ │ ├── utils.py │ │ │ └── wrappers.py │ │ ├── maze_model.py │ │ ├── q_iteration.py │ │ └── waypoint_controller.py │ ├── pointmaze_bullet │ │ ├── __init__.py │ │ ├── bullet_maze.py │ │ └── bullet_robot.py │ └── utils │ │ ├── __init__.py │ │ ├── dataset_utils.py │ │ ├── quatmath.py │ │ ├── visualize_env.py │ │ └── wrappers.py ├── scripts │ ├── check_antmaze_datasets.py │ ├── check_bullet.py │ ├── check_envs.py │ ├── check_mujoco_datasets.py │ ├── generation │ │ ├── flow_idm.py │ │ ├── generate_ant_maze_datasets.py │ │ ├── generate_kitchen_datasets.py │ │ ├── generate_maze2d_bullet_datasets.py │ │ ├── generate_maze2d_datasets.py │ │ ├── generate_minigrid_fourroom_data.py │ │ ├── hand_dapg_combined.py │ │ ├── hand_dapg_demos.py │ │ ├── hand_dapg_jax.py │ │ ├── hand_dapg_policies.py │ │ ├── hand_dapg_random.py │ │ ├── mujoco │ │ │ ├── collect_data.py │ │ │ ├── convert_buffer.py │ │ │ ├── fix_qpos_qvel.py │ │ │ └── stitch_dataset.py │ │ ├── relabel_antmaze_rewards.py │ │ └── relabel_maze2d_rewards.py │ ├── ope_rollout.py │ ├── reference_scores │ │ ├── adroit_expert.py │ │ ├── carla_lane_controller.py │ │ ├── generate_ref_min_score.py │ │ ├── generate_ref_min_score.sh │ │ ├── maze2d_bullet_controller.py │ │ ├── maze2d_controller.py │ │ └── minigrid_controller.py │ └── visualize_dataset.py └── setup.py ├── requirements.txt ├── run.py ├── run.sh ├── scripts ├── create_table.py ├── download_vd4rl_datasets.py ├── kill_process.py └── run.sh └── uni_rlhf ├── __init__.py ├── config.py ├── controllers ├── __init__.py ├── annotate.py ├── auth.py ├── project.py └── query.py ├── dataset_validator ├── default_configuration.json └── user_validator.py ├── datasets ├── __init__.py ├── base.py ├── dataset_utils.py ├── offline_atari.py ├── offline_customization_dataset.py ├── offline_d4rl.py ├── offline_minigrid.py ├── offline_smarts.py └── offline_vd4rl.py ├── models.py ├── tests ├── __init__.py ├── controllers │ ├── test_config.py │ ├── test_login.py │ ├── test_model.py │ ├── test_project.py │ ├── test_query.py │ └── test_urls.py └── datasets │ ├── test_offline_atari.py │ ├── test_offline_customization_dataset.py │ ├── test_offline_d4rl.py │ ├── test_offline_minigrid.py │ ├── test_offline_smarts.py │ └── test_offline_vd4rl.py ├── utils.py └── vue_part ├── babel.config.js ├── jsconfig.json ├── package-lock.json ├── package.json ├── public ├── favicon.ico └── index.html ├── src ├── App.vue ├── assets │ ├── Annotation.svg │ ├── UniRLHFLogo copy.jpg │ ├── UniRLHFLogo.jpg │ ├── feedback │ │ ├── Attribute.png │ │ ├── Comparative.png │ │ ├── Evaluative.png │ │ ├── Keypoint.png │ │ └── Visual.png │ ├── images │ │ └── videoPre │ │ │ ├── click-b.png │ │ │ ├── click-l.png │ │ │ ├── click-p.png │ │ │ ├── click-r.png │ │ │ ├── click-t.png │ │ │ ├── click-v.png │ │ │ ├── com-b.png │ │ │ ├── com-l.png │ │ │ ├── com-p.png │ │ │ ├── com-r.png │ │ │ ├── com-t.png │ │ │ ├── com-v.png │ │ │ ├── hover-b.png │ │ │ ├── hover-l.png │ │ │ ├── hover-p.png │ │ │ ├── hover-r.png │ │ │ ├── hover-t.png │ │ │ └── hover-v.png │ ├── logo.png │ ├── logo.svg │ ├── prediction.svg │ ├── skipped.svg │ └── user.svg ├── components │ └── wangEditor.vue ├── draw.js ├── main.js ├── plugins │ └── 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