├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── data_collection ├── README.md ├── config │ ├── README.md │ ├── berkeley_robot_0 │ │ ├── README.md │ │ ├── cogvlm_server.yaml │ │ ├── config.yaml │ │ ├── gc_bc.yaml │ │ ├── general_params.yaml │ │ ├── lc_bc.yaml │ │ ├── reset_detector.yaml │ │ ├── subgoal_predictor.yaml │ │ ├── success_detector.yaml │ │ ├── task_definition.yaml │ │ └── task_proposer.yaml │ ├── berkeley_robot_1 │ │ ├── cogvlm_server.yaml │ │ ├── config.yaml │ │ ├── gc_bc.yaml │ │ ├── general_params.yaml │ │ ├── lc_bc.yaml │ │ ├── reset_detector.yaml │ │ ├── subgoal_predictor.yaml │ │ ├── success_detector.yaml │ │ ├── task_definition.yaml │ │ └── task_proposer.yaml │ ├── berkeley_robot_2 │ │ ├── cogvlm_server.yaml │ │ ├── config.yaml │ │ ├── gc_bc.yaml │ │ ├── general_params.yaml │ │ ├── reset_detector.yaml │ │ ├── subgoal_predictor.yaml │ │ ├── success_detector.yaml │ │ ├── task_definition.yaml │ │ └── task_proposer.yaml │ ├── berkeley_robot_3 │ │ ├── cogvlm_server.yaml │ │ ├── config.yaml │ │ ├── gc_bc.yaml │ │ ├── general_params.yaml │ │ ├── lc_bc.yaml │ │ ├── reset_detector.yaml │ │ ├── subgoal_predictor.yaml │ │ ├── success_detector.yaml │ │ ├── task_definition.yaml │ │ └── task_proposer.yaml │ └── berkeley_robot_4 │ │ ├── cogvlm_server.yaml │ │ ├── config.yaml │ │ ├── diffusion_policy.yaml │ │ ├── gc_bc.yaml │ │ ├── general_params.yaml │ │ ├── rcsl.yaml │ │ ├── reset_detector.yaml │ │ ├── subgoal_predictor.yaml │ │ ├── success_detector.yaml │ │ ├── task_definition.yaml │ │ └── task_proposer.yaml ├── orchestrator │ ├── cogvlm_server │ │ ├── batched.py │ │ ├── forwarding_server.py │ │ ├── main.py │ │ ├── test-img.png │ │ ├── test.py │ │ └── test_batched.py │ ├── robot │ │ ├── gc_policy.py │ │ ├── logger.py │ │ ├── main.py │ │ ├── reset_detector.py │ │ ├── subgoal_predictor.py │ │ ├── task_proposer.py │ │ ├── task_success_predictor.py │ │ └── utils.py │ ├── set_workspace_bounds │ │ └── teleop.py │ ├── susie_server │ │ └── main.py │ └── web_viewer │ │ ├── app.py │ │ ├── ros_client │ │ └── run_client.py │ │ └── templates │ │ └── index.html ├── requirements.txt ├── setup.py ├── ssh_port_forward.sh └── start_robot.sh ├── media ├── autonomous_data_collection.png ├── soar_logo.jpeg └── soar_teaser.png ├── model_training ├── README.md ├── experiments │ ├── configs │ │ ├── data_config.py │ │ └── train_config.py │ ├── scripts │ │ └── launch.sh │ └── train.py ├── jaxrl_m │ ├── agents │ │ ├── __init__.py │ │ └── continuous │ │ │ └── gc_bc.py │ ├── common │ │ ├── common.py │ │ ├── encoding.py │ │ ├── optimizers.py │ │ ├── typing.py │ │ └── wandb.py │ ├── data │ │ ├── dataset.py │ │ ├── text_processing.py │ │ ├── tf_augmentations.py │ │ └── tf_goal_relabeling.py │ ├── networks │ │ ├── actor_critic_nets.py │ │ └── mlp.py │ ├── utils │ │ ├── jax_utils.py │ │ ├── timer_utils.py │ │ └── train_utils.py │ └── vision │ │ ├── __init__.py │ │ ├── film_conditioning_layer.py │ │ └── resnet_v1.py ├── requirements.txt └── 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