├── .gitignore ├── README.md ├── asset-gen ├── .gitignore ├── README.md ├── activation.py ├── assets │ ├── advanced.md │ └── update_logs.md ├── docker │ ├── Dockerfile │ └── README.md ├── dpt.py ├── encoding.py ├── freqencoder │ ├── __init__.py │ ├── backend.py │ ├── freq.py │ ├── setup.py │ └── src │ │ ├── bindings.cpp │ │ ├── freqencoder.cu │ │ └── freqencoder.h ├── generate_urdf.py ├── gridencoder │ ├── __init__.py │ ├── backend.py │ ├── grid.py │ ├── setup.py │ └── src │ │ ├── bindings.cpp │ │ ├── gridencoder.cu │ │ └── gridencoder.h ├── guidance │ ├── clip_utils.py │ ├── if_utils.py │ ├── sd_utils.py │ ├── zero123_utils.py │ └── zero123_utils_vis.py ├── ldm │ ├── extras.py │ ├── guidance.py │ ├── lr_scheduler.py │ ├── models │ │ ├── autoencoder.py │ │ └── diffusion │ │ │ ├── __init__.py │ │ │ ├── classifier.py │ │ │ ├── ddim.py │ │ │ ├── ddpm.py │ │ │ ├── plms.py │ │ │ └── sampling_util.py │ ├── modules │ │ ├── attention.py │ │ ├── diffusionmodules │ │ │ ├── __init__.py │ │ │ ├── model.py │ │ │ ├── openaimodel.py │ │ │ └── util.py │ │ ├── distributions │ │ │ ├── __init__.py │ │ │ └── distributions.py │ │ ├── ema.py │ │ ├── encoders │ │ │ ├── __init__.py │ │ │ └── modules.py │ │ ├── evaluate │ │ │ ├── adm_evaluator.py │ │ │ ├── evaluate_perceptualsim.py │ │ │ ├── frechet_video_distance.py │ │ │ ├── ssim.py │ │ │ └── torch_frechet_video_distance.py │ │ ├── image_degradation │ │ │ ├── __init__.py │ │ │ ├── bsrgan.py │ │ │ ├── bsrgan_light.py │ │ │ ├── utils │ │ │ │ └── test.png │ │ │ └── utils_image.py │ │ ├── losses │ │ │ ├── __init__.py │ │ │ ├── contperceptual.py │ │ │ └── vqperceptual.py │ │ └── x_transformer.py │ ├── thirdp │ │ └── psp │ │ │ ├── helpers.py │ │ │ ├── id_loss.py │ │ │ └── model_irse.py │ └── util.py ├── llm_utils.py ├── main.py ├── meshutils.py ├── nerf │ ├── gui.py │ ├── network.py │ ├── network_grid.py │ ├── network_grid_taichi.py │ ├── network_grid_tcnn.py │ ├── provider.py │ ├── renderer.py │ └── utils.py ├── optimizer.py ├── preprocess_image.py ├── pretrained │ └── zero123 │ │ └── sd-objaverse-finetune-c_concat-256.yaml ├── raymarching │ ├── __init__.py │ ├── backend.py │ ├── raymarching.py │ ├── setup.py │ └── src │ │ ├── bindings.cpp │ │ ├── raymarching.cu │ │ └── raymarching.h ├── requirements.txt ├── scripts │ ├── extract_mesh.sh │ ├── install_ext.sh │ └── run_image.sh ├── shencoder │ ├── __init__.py │ ├── backend.py │ ├── setup.py │ ├── sphere_harmonics.py │ └── src │ │ ├── bindings.cpp │ │ ├── shencoder.cu │ │ └── shencoder.h ├── source_cuda.sh ├── taichi_modules │ ├── __init__.py │ ├── hash_encoder.py │ ├── intersection.py │ ├── ray_march.py │ ├── utils.py │ ├── volume_render_test.py │ └── volume_train.py ├── tets │ ├── 128_tets.npz │ ├── 128_tets.npz.REMOVED.git-id │ ├── 32_tets.npz │ ├── 64_tets.npz │ ├── README.md │ └── generate_tets.py └── urdf_template.urdf ├── cmd.sh ├── eval.sh ├── gifs ├── articulated_policy.gif └── overview_video.gif ├── gym ├── .gitignore ├── algorithms │ ├── ppo │ │ ├── __init__.py │ │ ├── module.py │ │ ├── ppo.py │ │ └── storage.py │ └── ppo_utils │ │ ├── backbone.py │ │ ├── io_util.py │ │ ├── log_util.py │ │ ├── loss.py │ │ ├── misc_util.py │ │ ├── pointgroup_utils.py │ │ ├── sparse_unet.py │ │ ├── sparse_unet_backbone.py │ │ ├── sparse_unet_backbone_glob.py │ │ ├── sparse_unet_backbone_new.py │ │ └── tricks.py ├── data_structure │ ├── instances.py │ └── observation.py ├── envs │ ├── base │ │ ├── __init__.py │ │ └── vec_task.py │ ├── base_env.py │ ├── base_task.py │ ├── gpt_task.py │ ├── gpt_task_generated.py │ └── utils │ │ ├── compute.py │ │ ├── get_observation.py │ │ ├── get_reward.py │ │ ├── get_running_bbox.py │ │ ├── load_env.py │ │ ├── misc.py │ │ ├── perform_action.py │ │ ├── reset.py │ │ └── step.py ├── train.py └── utils │ ├── __init__.py │ ├── gym_info.py │ └── tools.py ├── requirements.txt ├── task-gen ├── README.md ├── llm_utils.py ├── parser.py ├── prompt.py ├── template_asset.py └── template_scene.py └── train.sh /.gitignore: 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