├── Dockerfile ├── README.md ├── contributing.md ├── environment_cuda.yml ├── environment_tpu.yml ├── experiments ├── bridgedata_offline_gc.py ├── configs │ ├── bridgedata_config.py │ ├── offline_contrastive_config.py │ ├── offline_multimodal_config.py │ └── offline_pixels_config.py ├── contrastive.py ├── create_eval_goals.py ├── eval_checkpoints.py ├── eval_policy.py ├── eval_policy_clip.py ├── eval_policy_diffusion.py ├── eval_visualize_roboverse.py ├── normalize_actions.py ├── scripts │ ├── .nfs0000000005fc462300000001 │ ├── eval.sh │ ├── eval_all.sh │ ├── eval_policy.sh │ ├── eval_policy_clip.sh │ ├── launch_bridge.sh │ ├── launch_contrastive.sh │ ├── launch_contrastive_gpu.sh │ └── launch_sim.sh └── sim_offline_gc.py ├── jaxrl_m ├── agents │ ├── __init__.py │ ├── continuous │ │ ├── affordance.py │ │ ├── bc.py │ │ ├── gc_bc.py │ │ ├── gc_iql.py │ │ ├── iql.py │ │ └── multimodal.py │ └── discrete │ │ ├── bc.py │ │ ├── cql.py │ │ ├── gc_cql.py │ │ ├── gc_iql.py │ │ └── iql.py ├── common │ ├── common.py │ ├── encoding.py │ ├── evaluation.py │ ├── typing.py │ └── wandb.py ├── data │ ├── bridge_dataset.py │ ├── dataset.py │ ├── ego4d.py │ ├── goal_conditioned_buffer.py │ ├── language.py │ ├── replay_buffer.py │ ├── sgl_dataset.py │ ├── ss2.py │ ├── ss2_language.py │ └── tf_augmentations.py ├── envs │ └── wrappers │ │ ├── action_norm.py │ │ ├── dmcgym.py │ │ ├── mujoco.py │ │ ├── roboverse.py │ │ └── video_recorder.py ├── networks │ ├── actor_critic_nets.py │ └── discrete_nets.py ├── utils │ ├── sim_utils.py │ ├── timer_utils.py │ └── train_utils.py └── vision │ ├── __init__.py │ ├── bigvision_common.py │ ├── bigvision_resnetv2.py │ ├── bigvision_utils.py │ ├── clip.py │ ├── cvae.py │ ├── data_augmentations.py │ ├── impala.py │ ├── resnet_v1.py │ └── small_encoders.py ├── scripts ├── bridgedata_numpy_to_tfrecord.py ├── bridgedata_raw_to_numpy.py └── ss2_frames_to_tfrecord.py └── setup.py /Dockerfile: 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