├── .gitignore ├── LICENSE ├── README.md ├── assets ├── Teaser.png ├── inspire.gif └── xhand.gif ├── config ├── diffusion_policy │ └── train_diffusion_policy.yaml └── render │ └── render_all_dataset.yaml ├── dexumi ├── camera │ ├── camera.py │ ├── debug_camera.py │ ├── iphone_camera.py │ ├── oak_camera.py │ ├── qr_code.py │ └── realsense_camera.py ├── common │ ├── data.py │ ├── diffusion_model │ │ ├── attention.py │ │ ├── ddpm.py │ │ ├── encoder.py │ │ ├── openaimodel.py │ │ └── util.py │ ├── distribution.py │ ├── ema_model.py │ ├── frame_manager.py │ ├── imagecodecs_numcodecs.py │ ├── network.py │ ├── pointcloud.py │ ├── precise_sleep.py │ ├── projection.py │ ├── transformer.py │ ├── utility │ │ ├── arr.py │ │ ├── dataset.py │ │ ├── diffusion.py │ │ ├── file.py │ │ ├── logging.py │ │ ├── matrix.py │ │ ├── model.py │ │ ├── parallel.py │ │ ├── urdf.py │ │ ├── video.py │ │ ├── viz.py │ │ └── zarr.py │ └── vision_transformer.py ├── constants.py ├── data_recording │ ├── __init__.py │ ├── data_buffer.py │ ├── numeric_recorder.py │ ├── record_manager.py │ └── video_recorder.py ├── diffusion_policy │ ├── dataloader │ │ ├── dexumi_dataset.py │ │ ├── diffusion_bc_dataset.py │ │ └── replay_buffer.py │ ├── diffusion_policy.py │ ├── model │ │ ├── diffusion_model.py │ │ ├── encoder.py │ │ └── network.py │ └── utility │ │ └── evaluation.py ├── encoder │ ├── UARTReader.py │ ├── encoder.py │ ├── fsr.py │ ├── numeric.py │ └── xhand_tactile.py ├── hand_sdk │ ├── dexhand.py │ ├── inspire │ │ ├── hand_api.c │ │ ├── hand_api.h │ │ └── hand_api_cls.py │ └── xhand │ │ └── hand_api_cls.py └── real_env │ ├── common │ ├── __init__.py │ ├── base.py │ ├── camera.py │ ├── dexhand.py │ ├── motor_trajectory_interpolator.py │ ├── numeric.py │ ├── policy.py │ ├── pose_trajectory_interpolator.py │ └── ur5.py │ ├── dexumi_policy.py │ ├── real_policy.py │ ├── ring_buffer.py │ └── spacemouse.py ├── embedded_system ├── Core │ ├── Inc │ │ ├── adc.h │ │ ├── dma.h │ │ ├── gpio.h │ │ ├── iwdg.h │ │ ├── main.h │ │ ├── spi.h │ │ ├── stm32f0xx_hal_conf.h │ │ ├── stm32f0xx_it.h │ │ └── usart.h │ └── Src │ │ ├── adc.c │ │ ├── dma.c │ │ ├── gpio.c │ │ ├── iwdg.c │ │ ├── main.c │ │ ├── spi.c │ │ ├── stm32f0xx_hal_msp.c │ │ ├── stm32f0xx_it.c │ │ ├── syscalls.c │ │ ├── sysmem.c │ │ ├── system_stm32f0xx.c │ │ └── usart.c ├── DexUMI.ioc ├── DexUMI_Embedded_System.md ├── Drivers │ ├── CMSIS │ │ ├── Core │ │ │ ├── Include │ │ │ │ ├── cmsis_armcc.h │ │ │ │ ├── cmsis_armclang.h │ │ │ │ ├── cmsis_compiler.h │ │ │ │ ├── cmsis_gcc.h │ │ │ │ ├── cmsis_iccarm.h │ │ │ │ ├── cmsis_version.h │ │ │ │ ├── core_armv8mbl.h │ │ │ │ ├── core_armv8mml.h │ │ │ │ ├── core_cm0.h │ │ │ │ ├── core_cm0plus.h │ │ │ │ ├── core_cm1.h │ │ │ │ ├── core_cm23.h │ │ │ │ ├── core_cm3.h │ │ │ │ ├── core_cm33.h │ │ │ │ ├── core_cm4.h │ │ │ │ ├── core_cm7.h │ │ │ │ ├── core_sc000.h │ │ │ │ ├── core_sc300.h │ │ │ │ ├── mpu_armv7.h │ │ │ │ ├── mpu_armv8.h │ │ │ │ └── tz_context.h │ │ │ └── Template │ │ │ │ └── ARMv8-M │ │ │ │ ├── main_s.c │ │ │ │ └── tz_context.c │ │ ├── Core_A │ │ │ ├── Include │ │ │ │ ├── cmsis_armcc.h │ │ │ │ ├── cmsis_armclang.h │ │ │ │ ├── cmsis_compiler.h │ │ │ │ ├── cmsis_cp15.h │ │ │ │ ├── cmsis_gcc.h │ │ │ │ ├── cmsis_iccarm.h │ │ │ │ ├── core_ca.h │ │ │ │ └── irq_ctrl.h │ │ │ └── Source │ │ │ │ └── irq_ctrl_gic.c │ │ ├── DSP │ │ │ ├── DSP_Lib_TestSuite │ │ │ │ ├── Common │ │ │ │ │ ├── JTest │ │ │ │ │ │ ├── inc │ │ │ │ │ │ │ ├── arr_desc │ │ │ │ │ │ │ │ └── arr_desc.h │ │ │ │ │ │ │ ├── jtest.h │ │ │ │ │ │ │ ├── jtest_cycle.h │ │ │ │ │ │ │ ├── jtest_define.h │ │ │ │ │ │ │ ├── jtest_fw.h │ │ │ │ │ │ │ ├── jtest_group.h │ │ │ │ │ │ │ ├── jtest_group_call.h │ │ │ │ │ │ │ ├── jtest_group_define.h │ │ │ │ │ │ │ ├── jtest_pf.h │ │ │ │ │ │ │ ├── jtest_systick.h │ │ │ │ │ │ │ ├── jtest_test.h │ │ │ │ │ │ │ ├── jtest_test_call.h │ │ │ │ │ │ │ ├── jtest_test_define.h │ │ │ │ │ │ │ ├── jtest_test_ret.h │ │ │ │ │ │ │ ├── jtest_util.h │ │ │ │ │ │ │ ├── opt_arg │ │ │ │ │ │ │ │ ├── opt_arg.h │ │ │ │ │ │ │ │ ├── pp_narg.h │ │ │ │ │ │ │ │ └── splice.h │ │ │ │ │ │ │ └── util │ │ │ │ │ │ │ │ └── util.h │ │ │ │ │ │ └── src │ │ │ │ │ │ │ ├── jtest_cycle.c │ │ │ │ │ │ │ ├── jtest_dump_str_segments.c │ │ │ │ │ │ │ ├── jtest_fw.c │ │ │ │ │ │ │ └── jtest_trigger_action.c │ │ │ │ │ ├── inc │ │ │ │ │ │ ├── all_tests.h │ │ │ │ │ │ ├── basic_math_tests │ │ │ │ │ │ │ ├── basic_math_templates.h │ │ │ │ │ │ │ ├── basic_math_test_data.h │ │ │ │ │ │ │ ├── basic_math_test_group.h │ │ │ │ │ │ │ └── basic_math_tests.h │ │ │ │ │ │ ├── complex_math_tests │ │ │ │ │ │ │ ├── complex_math_templates.h │ │ │ │ │ │ │ ├── complex_math_test_data.h │ │ │ │ │ │ │ ├── complex_math_test_group.h │ │ │ │ │ │ │ └── complex_math_tests.h │ │ │ │ │ │ ├── controller_tests │ │ │ │ │ │ │ ├── controller_templates.h │ │ │ │ │ │ │ ├── controller_test_data.h │ │ │ │ │ │ │ ├── controller_test_group.h │ │ │ │ │ │ │ └── controller_tests.h │ │ │ │ │ │ ├── fast_math_tests │ │ │ │ │ │ │ ├── fast_math_templates.h │ │ │ │ │ │ │ ├── fast_math_test_data.h │ │ │ │ │ │ │ └── fast_math_test_group.h │ │ │ │ │ │ ├── filtering_tests │ │ │ │ │ │ │ ├── filtering_templates.h │ │ │ │ │ │ │ ├── filtering_test_data.h │ │ │ │ │ │ │ ├── filtering_test_group.h │ │ │ │ │ │ │ └── filtering_tests.h │ │ │ │ │ │ ├── intrinsics_tests │ │ │ │ │ │ │ ├── intrinsics_templates.h │ │ │ │ │ │ │ ├── intrinsics_test_data.h │ │ │ │ │ │ │ └── intrinsics_test_group.h │ │ │ │ │ │ ├── math_helper.h │ │ │ │ │ │ ├── matrix_tests │ │ │ │ │ │ │ ├── matrix_templates.h │ │ │ │ │ │ │ ├── matrix_test_data.h │ │ │ │ │ │ │ ├── matrix_test_group.h │ │ │ │ │ │ │ └── matrix_tests.h │ │ │ │ │ │ ├── statistics_tests │ │ │ │ │ │ │ ├── statistics_templates.h │ │ │ │ │ │ │ ├── statistics_test_data.h │ │ │ │ │ │ │ ├── statistics_test_group.h │ │ │ │ │ │ │ └── statistics_tests.h │ │ │ │ │ │ ├── support_tests │ │ │ │ │ │ │ ├── support_templates.h │ │ │ │ │ │ │ ├── support_test_data.h │ │ │ │ │ │ │ ├── support_test_group.h │ │ │ │ │ │ │ └── support_tests.h │ │ │ │ │ │ ├── templates │ │ │ │ │ │ │ ├── template.h │ │ │ │ │ │ │ └── test_templates.h │ │ │ │ │ │ ├── transform_tests │ │ │ │ │ │ │ ├── transform_templates.h │ │ │ │ │ │ │ ├── transform_test_data.h │ │ │ │ │ │ │ ├── transform_test_group.h │ │ │ │ │ │ │ └── transform_tests.h │ │ │ │ │ │ └── type_abbrev.h │ │ │ │ │ ├── platform │ │ │ │ │ │ ├── ARMCC │ │ │ │ │ │ │ ├── Retarget.c │ │ │ │ │ │ │ ├── startup_armv6-m.s │ │ │ │ │ │ │ └── startup_armv7-m.s │ │ │ │ │ │ ├── ARMCLANG │ │ │ │ │ │ │ ├── startup_armv6-m.S │ │ │ │ │ │ │ └── startup_armv7-m.S │ │ │ │ │ │ ├── GCC │ │ │ │ │ │ │ ├── Retarget.c │ │ │ │ │ │ │ ├── startup_armv6-m.S │ │ │ │ │ │ │ └── startup_armv7-m.S │ │ │ │ │ │ ├── startup_generic.S │ │ │ │ │ │ ├── system_ARMCM0.c │ │ │ │ │ │ ├── system_ARMCM23.c │ │ │ │ │ │ ├── system_ARMCM3.c │ │ │ │ │ │ ├── system_ARMCM33.c │ │ │ │ │ │ ├── system_ARMCM4.c │ │ │ │ │ │ ├── system_ARMCM7.c │ │ │ │ │ │ ├── system_ARMSC000.c │ │ │ │ │ │ ├── system_ARMSC300.c │ │ │ │ │ │ ├── system_ARMv8MBL.c │ │ │ │ │ │ ├── system_ARMv8MML.c │ │ │ │ │ │ └── system_generic.c │ │ │ │ │ └── src │ │ │ │ │ │ ├── all_tests.c │ │ │ │ │ │ ├── basic_math_tests │ │ │ │ │ │ ├── abs_tests.c │ │ │ │ │ │ ├── add_tests.c │ │ │ │ │ │ ├── basic_math_test_common_data.c │ │ │ │ │ │ ├── basic_math_test_group.c │ │ │ │ │ │ ├── dot_prod_tests.c │ │ │ │ │ │ ├── mult_tests.c │ │ │ │ │ │ ├── negate_tests.c │ │ │ │ │ │ ├── offset_tests.c │ │ │ │ │ │ ├── scale_tests.c │ │ │ │ │ │ ├── shift_tests.c │ │ │ │ │ │ └── sub_tests.c │ │ │ │ │ │ ├── complex_math_tests │ │ │ │ │ │ ├── cmplx_conj_tests.c │ │ │ │ │ │ ├── cmplx_dot_prod_tests.c │ │ │ │ │ │ ├── cmplx_mag_squared_tests.c │ │ │ │ │ │ ├── cmplx_mag_tests.c │ │ │ │ │ │ ├── cmplx_mult_cmplx_tests.c │ │ │ │ │ │ ├── cmplx_mult_real_test.c │ │ │ │ │ │ ├── complex_math_test_common_data.c │ │ │ │ │ │ └── complex_math_test_group.c │ │ │ │ │ │ ├── controller_tests │ │ │ │ │ │ ├── controller_test_common_data.c │ │ │ │ │ │ ├── controller_test_group.c │ │ │ │ │ │ ├── pid_reset_tests.c │ │ │ │ │ │ ├── pid_tests.c │ │ │ │ │ │ └── sin_cos_tests.c │ │ │ │ │ │ ├── fast_math_tests │ │ │ │ │ │ ├── fast_math_tests.c │ │ │ │ │ │ └── fast_math_tests_common_data.c │ │ │ │ │ │ ├── filtering_tests │ │ │ │ │ │ ├── biquad_tests.c │ │ │ │ │ │ ├── conv_tests.c │ │ │ │ │ │ ├── correlate_tests.c │ │ │ │ │ │ ├── filtering_test_common_data.c │ │ │ │ │ │ ├── filtering_test_group.c │ │ │ │ │ │ ├── fir_tests.c │ │ │ │ │ │ ├── iir_tests.c │ │ │ │ │ │ └── lms_tests.c │ │ │ │ │ │ ├── intrinsics_tests │ │ │ │ │ │ ├── intrinsics_tests.c │ │ │ │ │ │ └── intrinsics_tests_common_data.c │ │ │ │ │ │ ├── main.c │ │ │ │ │ │ ├── math_helper.c │ │ │ │ │ │ ├── matrix_tests │ │ │ │ │ │ ├── mat_add_tests.c │ │ │ │ │ │ ├── mat_cmplx_mult_tests.c │ │ │ │ │ │ ├── mat_init_tests.c │ │ │ │ │ │ ├── mat_inverse_tests.c │ │ │ │ │ │ ├── mat_mult_fast_tests.c │ │ │ │ │ │ ├── mat_mult_tests.c │ │ │ │ │ │ ├── mat_scale_tests.c │ │ │ │ │ │ ├── mat_sub_tests.c │ │ │ │ │ │ ├── mat_trans_tests.c │ │ │ │ │ │ ├── matrix_test_common_data.c │ │ │ │ │ │ └── matrix_test_group.c │ │ │ │ │ │ ├── statistics_tests │ │ │ │ │ │ ├── max_tests.c │ │ │ │ │ │ ├── mean_tests.c │ │ │ │ │ │ ├── min_tests.c │ │ │ │ │ │ ├── power_tests.c │ │ │ │ │ │ ├── rms_tests.c │ │ │ │ │ │ ├── statistics_test_common_data.c │ │ │ │ │ │ ├── statistics_test_group.c │ │ │ │ │ │ ├── std_tests.c │ │ │ │ │ │ └── var_tests.c │ │ │ │ │ │ ├── support_tests │ │ │ │ │ │ ├── copy_tests.c │ │ │ │ │ │ ├── fill_tests.c │ │ │ │ │ │ ├── support_test_common_data.c │ │ │ │ │ │ ├── support_test_group.c │ │ │ │ │ │ └── x_to_y_tests.c │ │ │ │ │ │ └── transform_tests │ │ │ │ │ │ ├── cfft_family_tests.c │ │ │ │ │ │ ├── cfft_tests.c │ │ │ │ │ │ ├── dct4_tests.c │ │ │ │ │ │ ├── rfft_fast_tests.c │ │ │ │ │ │ ├── rfft_tests.c │ │ │ │ │ │ ├── transform_test_group.c │ │ │ │ │ │ └── transform_tests_common_data.c │ │ │ │ ├── DspLibTest_FVP │ │ │ │ │ ├── ARMCM23_config.txt │ │ │ │ │ ├── ARMCM33_DSP_FP_config.txt │ │ │ │ │ ├── ARMCM33_DSP_config.txt │ │ │ │ │ ├── ARMCM33_FP_config.txt │ │ │ │ │ └── ARMCM33_config.txt │ │ │ │ ├── DspLibTest_MPS2 │ │ │ │ │ └── HowTo.txt │ │ │ │ ├── HowTo.txt │ │ │ │ └── RefLibs │ │ │ │ │ ├── inc │ │ │ │ │ └── ref.h │ │ │ │ │ └── src │ │ │ │ │ ├── BasicMathFunctions │ │ │ │ │ ├── abs.c │ │ │ │ │ ├── add.c │ │ │ │ │ ├── dot_prod.c │ │ │ │ │ ├── mult.c │ │ │ │ │ ├── negate.c │ │ │ │ │ ├── offset.c │ │ │ │ │ ├── scale.c │ │ │ │ │ ├── shift.c │ │ │ │ │ └── sub.c │ │ │ │ │ ├── ComplexMathFunctions │ │ │ │ │ ├── cmplx_conj.c │ │ │ │ │ ├── cmplx_dot_prod.c │ │ │ │ │ ├── cmplx_mag.c │ │ │ │ │ ├── cmplx_mag_squared.c │ │ │ │ │ ├── cmplx_mult_cmplx.c │ │ │ │ │ └── cmplx_mult_real.c │ │ │ │ │ ├── ControllerFunctions │ │ │ │ │ ├── pid.c │ │ │ │ │ └── sin_cos.c │ │ │ │ │ ├── FastMathFunctions │ │ │ │ │ ├── cos.c │ │ │ │ │ ├── sin.c │ │ │ │ │ └── sqrt.c │ │ │ │ │ ├── FilteringFunctions │ │ │ │ │ ├── biquad.c │ │ │ │ │ ├── conv.c │ │ │ │ │ ├── correlate.c │ │ │ │ │ ├── fir.c │ │ │ │ │ ├── fir_decimate.c │ │ │ │ │ ├── fir_interpolate.c │ │ │ │ │ ├── fir_lattice.c │ │ │ │ │ ├── fir_sparse.c │ │ │ │ │ ├── iir_lattice.c │ │ │ │ │ └── lms.c │ │ │ │ │ ├── HelperFunctions │ │ │ │ │ ├── mat_helper.c │ │ │ │ │ └── ref_helper.c │ │ │ │ │ ├── Intrinsics │ │ │ │ │ └── intrinsics.c │ │ │ │ │ ├── MatrixFunctions │ │ │ │ │ ├── mat_add.c │ │ │ │ │ ├── mat_cmplx_mult.c │ │ │ │ │ ├── mat_inverse.c │ │ │ │ │ ├── mat_mult.c │ │ │ │ │ ├── mat_scale.c │ │ │ │ │ ├── mat_sub.c │ │ │ │ │ └── mat_trans.c │ │ │ │ │ ├── StatisticsFunctions │ │ │ │ │ ├── max.c │ │ │ │ │ ├── mean.c │ │ │ │ │ ├── min.c │ │ │ │ │ ├── power.c │ │ │ │ │ ├── rms.c │ │ │ │ │ ├── std.c │ │ │ │ │ └── var.c │ │ │ │ │ ├── SupportFunctions │ │ │ │ │ ├── copy.c │ │ │ │ │ ├── fill.c │ │ │ │ │ ├── fixed_to_fixed.c │ │ │ │ │ ├── fixed_to_float.c │ │ │ │ │ └── float_to_fixed.c │ │ │ │ │ └── TransformFunctions │ │ │ │ │ ├── bitreversal.c │ │ │ │ │ ├── cfft.c │ │ │ │ │ ├── dct4.c │ │ │ │ │ └── rfft.c │ │ │ ├── Examples │ │ │ │ └── ARM │ │ │ │ │ ├── arm_class_marks_example │ │ │ │ │ ├── Abstract.txt │ │ │ │ │ └── arm_class_marks_example_f32.c │ │ │ │ │ ├── arm_convolution_example │ │ │ │ │ ├── Abstract.txt │ │ │ │ │ ├── arm_convolution_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_dotproduct_example │ │ │ │ │ ├── Abstract.txt │ │ │ │ │ └── arm_dotproduct_example_f32.c │ │ │ │ │ ├── arm_fft_bin_example │ │ │ │ │ ├── Abstract.txt │ │ │ │ │ ├── arm_fft_bin_data.c │ │ │ │ │ └── arm_fft_bin_example_f32.c │ │ │ │ │ ├── arm_fir_example │ │ │ │ │ ├── Abstract.txt │ │ │ │ │ ├── arm_fir_data.c │ │ │ │ │ ├── arm_fir_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_graphic_equalizer_example │ │ │ │ │ ├── Abstract.txt │ │ │ │ │ ├── arm_graphic_equalizer_data.c │ │ │ │ │ ├── arm_graphic_equalizer_example_q31.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_linear_interp_example │ │ │ │ │ ├── Abstract.txt │ │ │ │ │ ├── arm_linear_interp_data.c │ │ │ │ │ ├── arm_linear_interp_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_matrix_example │ │ │ │ │ ├── Abstract.txt │ │ │ │ │ ├── arm_matrix_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_signal_converge_example │ │ │ │ │ ├── Abstract.txt │ │ │ │ │ ├── arm_signal_converge_data.c │ │ │ │ │ ├── arm_signal_converge_example_f32.c │ │ │ │ │ ├── math_helper.c │ │ │ │ │ └── math_helper.h │ │ │ │ │ ├── arm_sin_cos_example │ │ │ │ │ ├── Abstract.txt │ │ │ │ │ └── arm_sin_cos_example_f32.c │ │ │ │ │ └── arm_variance_example │ │ │ │ │ ├── Abstract.txt │ │ │ │ │ └── arm_variance_example_f32.c │ │ │ ├── Include │ │ │ │ ├── arm_common_tables.h │ │ │ │ ├── arm_const_structs.h │ │ │ │ └── arm_math.h │ │ │ └── Source │ │ │ │ ├── BasicMathFunctions │ │ │ │ ├── arm_abs_f32.c │ │ │ │ ├── arm_abs_q15.c │ │ │ │ ├── arm_abs_q31.c │ │ │ │ ├── arm_abs_q7.c │ │ │ │ ├── arm_add_f32.c │ │ │ │ ├── arm_add_q15.c │ │ │ │ ├── arm_add_q31.c │ │ │ │ ├── arm_add_q7.c │ │ │ │ ├── arm_dot_prod_f32.c │ │ │ │ ├── arm_dot_prod_q15.c │ │ │ │ ├── arm_dot_prod_q31.c │ │ │ │ ├── arm_dot_prod_q7.c │ │ │ │ ├── arm_mult_f32.c │ │ │ │ ├── arm_mult_q15.c │ │ │ │ ├── arm_mult_q31.c │ │ │ │ ├── arm_mult_q7.c │ │ │ │ ├── arm_negate_f32.c │ │ │ │ ├── arm_negate_q15.c │ │ │ │ ├── arm_negate_q31.c │ │ │ │ ├── arm_negate_q7.c │ │ │ │ ├── arm_offset_f32.c │ │ │ │ ├── arm_offset_q15.c │ │ │ │ ├── arm_offset_q31.c │ │ │ │ ├── arm_offset_q7.c │ │ │ │ ├── arm_scale_f32.c │ │ │ │ ├── arm_scale_q15.c │ │ │ │ ├── arm_scale_q31.c │ │ │ │ ├── arm_scale_q7.c │ │ │ │ ├── arm_shift_q15.c │ │ │ │ ├── arm_shift_q31.c │ │ │ │ ├── arm_shift_q7.c │ │ │ │ ├── arm_sub_f32.c │ │ │ │ ├── arm_sub_q15.c │ │ │ │ ├── arm_sub_q31.c │ │ │ │ └── arm_sub_q7.c │ │ │ │ ├── CommonTables │ │ │ │ ├── arm_common_tables.c │ │ │ │ └── arm_const_structs.c │ │ │ │ ├── ComplexMathFunctions │ │ │ │ ├── arm_cmplx_conj_f32.c │ │ │ │ ├── arm_cmplx_conj_q15.c │ │ │ │ ├── arm_cmplx_conj_q31.c │ │ │ │ ├── arm_cmplx_dot_prod_f32.c │ │ │ │ ├── arm_cmplx_dot_prod_q15.c │ │ │ │ ├── arm_cmplx_dot_prod_q31.c │ │ │ │ ├── arm_cmplx_mag_f32.c │ │ │ │ ├── arm_cmplx_mag_q15.c │ │ │ │ ├── arm_cmplx_mag_q31.c │ │ │ │ ├── arm_cmplx_mag_squared_f32.c │ │ │ │ ├── arm_cmplx_mag_squared_q15.c │ │ │ │ ├── arm_cmplx_mag_squared_q31.c │ │ │ │ ├── arm_cmplx_mult_cmplx_f32.c │ │ │ │ ├── arm_cmplx_mult_cmplx_q15.c │ │ │ │ ├── arm_cmplx_mult_cmplx_q31.c │ │ │ │ ├── arm_cmplx_mult_real_f32.c │ │ │ │ ├── arm_cmplx_mult_real_q15.c │ │ │ │ └── arm_cmplx_mult_real_q31.c │ │ │ │ ├── ControllerFunctions │ │ │ │ ├── arm_pid_init_f32.c │ │ │ │ ├── arm_pid_init_q15.c │ │ │ │ ├── arm_pid_init_q31.c │ │ │ │ ├── arm_pid_reset_f32.c │ │ │ │ ├── arm_pid_reset_q15.c │ │ │ │ ├── arm_pid_reset_q31.c │ │ │ │ ├── arm_sin_cos_f32.c │ │ │ │ └── arm_sin_cos_q31.c │ │ │ │ ├── FastMathFunctions │ │ │ │ ├── arm_cos_f32.c │ │ │ │ ├── arm_cos_q15.c │ │ │ │ ├── arm_cos_q31.c │ │ │ │ ├── arm_sin_f32.c │ │ │ │ ├── arm_sin_q15.c │ │ │ │ ├── arm_sin_q31.c │ │ │ │ ├── arm_sqrt_q15.c │ │ │ │ └── arm_sqrt_q31.c │ │ │ │ ├── FilteringFunctions │ │ │ │ ├── arm_biquad_cascade_df1_32x64_init_q31.c │ │ │ │ ├── arm_biquad_cascade_df1_32x64_q31.c │ │ │ │ ├── arm_biquad_cascade_df1_f32.c │ │ │ │ ├── arm_biquad_cascade_df1_fast_q15.c │ │ │ │ ├── arm_biquad_cascade_df1_fast_q31.c │ │ │ │ ├── arm_biquad_cascade_df1_init_f32.c │ │ │ │ ├── arm_biquad_cascade_df1_init_q15.c │ │ │ │ ├── arm_biquad_cascade_df1_init_q31.c │ │ │ │ ├── arm_biquad_cascade_df1_q15.c │ │ │ │ ├── arm_biquad_cascade_df1_q31.c │ │ │ │ ├── arm_biquad_cascade_df2T_f32.c │ │ │ │ ├── arm_biquad_cascade_df2T_f64.c │ │ │ │ ├── arm_biquad_cascade_df2T_init_f32.c │ │ │ │ ├── arm_biquad_cascade_df2T_init_f64.c │ │ │ │ ├── arm_biquad_cascade_stereo_df2T_f32.c │ │ │ │ ├── arm_biquad_cascade_stereo_df2T_init_f32.c │ │ │ │ ├── arm_conv_f32.c │ │ │ │ ├── arm_conv_fast_opt_q15.c │ │ │ │ ├── arm_conv_fast_q15.c │ │ │ │ ├── arm_conv_fast_q31.c │ │ │ │ ├── arm_conv_opt_q15.c │ │ │ │ ├── arm_conv_opt_q7.c │ │ │ │ ├── arm_conv_partial_f32.c │ │ │ │ ├── arm_conv_partial_fast_opt_q15.c │ │ │ │ ├── arm_conv_partial_fast_q15.c │ │ │ │ ├── arm_conv_partial_fast_q31.c │ │ │ │ ├── arm_conv_partial_opt_q15.c │ │ │ │ ├── arm_conv_partial_opt_q7.c │ │ │ │ ├── arm_conv_partial_q15.c │ │ │ │ ├── arm_conv_partial_q31.c │ │ │ │ ├── arm_conv_partial_q7.c │ │ │ │ ├── arm_conv_q15.c │ │ │ │ ├── arm_conv_q31.c │ │ │ │ ├── arm_conv_q7.c │ │ │ │ ├── arm_correlate_f32.c │ │ │ │ ├── arm_correlate_fast_opt_q15.c │ │ │ │ ├── arm_correlate_fast_q15.c │ │ │ │ ├── arm_correlate_fast_q31.c │ │ │ │ ├── arm_correlate_opt_q15.c │ │ │ │ ├── arm_correlate_opt_q7.c │ │ │ │ ├── arm_correlate_q15.c │ │ │ │ ├── arm_correlate_q31.c │ │ │ │ ├── arm_correlate_q7.c │ │ │ │ ├── arm_fir_decimate_f32.c │ │ │ │ ├── arm_fir_decimate_fast_q15.c │ │ │ │ ├── arm_fir_decimate_fast_q31.c │ │ │ │ ├── arm_fir_decimate_init_f32.c │ │ │ │ ├── arm_fir_decimate_init_q15.c │ │ │ │ ├── arm_fir_decimate_init_q31.c │ │ │ │ ├── arm_fir_decimate_q15.c │ │ │ │ ├── arm_fir_decimate_q31.c │ │ │ │ ├── arm_fir_f32.c │ │ │ │ ├── arm_fir_fast_q15.c │ │ │ │ ├── arm_fir_fast_q31.c │ │ │ │ ├── arm_fir_init_f32.c │ │ │ │ ├── arm_fir_init_q15.c │ │ │ │ ├── arm_fir_init_q31.c │ │ │ │ ├── arm_fir_init_q7.c │ │ │ │ ├── arm_fir_interpolate_f32.c │ │ │ │ ├── arm_fir_interpolate_init_f32.c │ │ │ │ ├── arm_fir_interpolate_init_q15.c │ │ │ │ ├── arm_fir_interpolate_init_q31.c │ │ │ │ ├── arm_fir_interpolate_q15.c │ │ │ │ ├── arm_fir_interpolate_q31.c │ │ │ │ ├── arm_fir_lattice_f32.c │ │ │ │ ├── arm_fir_lattice_init_f32.c │ │ │ │ ├── arm_fir_lattice_init_q15.c │ │ │ │ ├── arm_fir_lattice_init_q31.c │ │ │ │ ├── arm_fir_lattice_q15.c │ │ │ │ ├── arm_fir_lattice_q31.c │ │ │ │ ├── arm_fir_q15.c │ │ │ │ ├── arm_fir_q31.c │ │ │ │ ├── arm_fir_q7.c │ │ │ │ ├── arm_fir_sparse_f32.c │ │ │ │ ├── arm_fir_sparse_init_f32.c │ │ │ │ ├── arm_fir_sparse_init_q15.c │ │ │ │ ├── arm_fir_sparse_init_q31.c │ │ │ │ ├── arm_fir_sparse_init_q7.c │ │ │ │ ├── arm_fir_sparse_q15.c │ │ │ │ ├── arm_fir_sparse_q31.c │ │ │ │ ├── arm_fir_sparse_q7.c │ │ │ │ ├── arm_iir_lattice_f32.c │ │ │ │ ├── arm_iir_lattice_init_f32.c │ │ │ │ ├── arm_iir_lattice_init_q15.c │ │ │ │ ├── arm_iir_lattice_init_q31.c │ │ │ │ ├── arm_iir_lattice_q15.c │ │ │ │ ├── arm_iir_lattice_q31.c │ │ │ │ ├── arm_lms_f32.c │ │ │ │ ├── arm_lms_init_f32.c │ │ │ │ ├── arm_lms_init_q15.c │ │ │ │ ├── arm_lms_init_q31.c │ │ │ │ ├── arm_lms_norm_f32.c │ │ │ │ ├── arm_lms_norm_init_f32.c │ │ │ │ ├── arm_lms_norm_init_q15.c │ │ │ │ ├── arm_lms_norm_init_q31.c │ │ │ │ ├── arm_lms_norm_q15.c │ │ │ │ ├── arm_lms_norm_q31.c │ │ │ │ ├── arm_lms_q15.c │ │ │ │ └── arm_lms_q31.c │ │ │ │ ├── MatrixFunctions │ │ │ │ ├── arm_mat_add_f32.c │ │ │ │ ├── arm_mat_add_q15.c │ │ │ │ ├── arm_mat_add_q31.c │ │ │ │ ├── arm_mat_cmplx_mult_f32.c │ │ │ │ ├── arm_mat_cmplx_mult_q15.c │ │ │ │ ├── arm_mat_cmplx_mult_q31.c │ │ │ │ ├── arm_mat_init_f32.c │ │ │ │ ├── arm_mat_init_q15.c │ │ │ │ ├── arm_mat_init_q31.c │ │ │ │ ├── arm_mat_inverse_f32.c │ │ │ │ ├── arm_mat_inverse_f64.c │ │ │ │ ├── arm_mat_mult_f32.c │ │ │ │ ├── arm_mat_mult_fast_q15.c │ │ │ │ ├── arm_mat_mult_fast_q31.c │ │ │ │ ├── arm_mat_mult_q15.c │ │ │ │ ├── arm_mat_mult_q31.c │ │ │ │ ├── arm_mat_scale_f32.c │ │ │ │ ├── arm_mat_scale_q15.c │ │ │ │ ├── arm_mat_scale_q31.c │ │ │ │ ├── arm_mat_sub_f32.c │ │ │ │ ├── arm_mat_sub_q15.c │ │ │ │ ├── arm_mat_sub_q31.c │ │ │ │ ├── arm_mat_trans_f32.c │ │ │ │ ├── arm_mat_trans_q15.c │ │ │ │ └── arm_mat_trans_q31.c │ │ │ │ ├── StatisticsFunctions │ │ │ │ ├── arm_max_f32.c │ │ │ │ ├── arm_max_q15.c │ │ │ │ ├── arm_max_q31.c │ │ │ │ ├── arm_max_q7.c │ │ │ │ ├── arm_mean_f32.c │ │ │ │ ├── arm_mean_q15.c │ │ │ │ ├── arm_mean_q31.c │ │ │ │ ├── arm_mean_q7.c │ │ │ │ ├── arm_min_f32.c │ │ │ │ ├── arm_min_q15.c │ │ │ │ ├── arm_min_q31.c │ │ │ │ ├── arm_min_q7.c │ │ │ │ ├── arm_power_f32.c │ │ │ │ ├── arm_power_q15.c │ │ │ │ ├── arm_power_q31.c │ │ │ │ ├── arm_power_q7.c │ │ │ │ ├── arm_rms_f32.c │ │ │ │ ├── arm_rms_q15.c │ │ │ │ ├── arm_rms_q31.c │ │ │ │ ├── arm_std_f32.c │ │ │ │ ├── arm_std_q15.c │ │ │ │ ├── arm_std_q31.c │ │ │ │ ├── arm_var_f32.c │ │ │ │ ├── arm_var_q15.c │ │ │ │ └── arm_var_q31.c │ │ │ │ ├── SupportFunctions │ │ │ │ ├── arm_copy_f32.c │ │ │ │ ├── arm_copy_q15.c │ │ │ │ ├── arm_copy_q31.c │ │ │ │ ├── arm_copy_q7.c │ │ │ │ ├── arm_fill_f32.c │ │ │ │ ├── arm_fill_q15.c │ │ │ │ ├── arm_fill_q31.c │ │ │ │ ├── arm_fill_q7.c │ │ │ │ ├── arm_float_to_q15.c │ │ │ │ ├── arm_float_to_q31.c │ │ │ │ ├── arm_float_to_q7.c │ │ │ │ ├── arm_q15_to_float.c │ │ │ │ ├── arm_q15_to_q31.c │ │ │ │ ├── arm_q15_to_q7.c │ │ │ │ ├── arm_q31_to_float.c │ │ │ │ ├── arm_q31_to_q15.c │ │ │ │ ├── arm_q31_to_q7.c │ │ │ │ ├── arm_q7_to_float.c │ │ │ │ ├── arm_q7_to_q15.c │ │ │ │ └── arm_q7_to_q31.c │ │ │ │ └── TransformFunctions │ │ │ │ ├── arm_bitreversal.c │ │ │ │ ├── arm_bitreversal2.S │ │ │ │ ├── arm_cfft_f32.c │ │ │ │ ├── arm_cfft_q15.c │ │ │ │ ├── arm_cfft_q31.c │ │ │ │ ├── arm_cfft_radix2_f32.c │ │ │ │ ├── arm_cfft_radix2_init_f32.c │ │ │ │ ├── arm_cfft_radix2_init_q15.c │ │ │ │ ├── arm_cfft_radix2_init_q31.c │ │ │ │ ├── arm_cfft_radix2_q15.c │ │ │ │ ├── arm_cfft_radix2_q31.c │ │ │ │ ├── arm_cfft_radix4_f32.c │ │ │ │ ├── arm_cfft_radix4_init_f32.c │ │ │ │ ├── arm_cfft_radix4_init_q15.c │ │ │ │ ├── arm_cfft_radix4_init_q31.c │ │ │ │ ├── arm_cfft_radix4_q15.c │ │ │ │ ├── arm_cfft_radix4_q31.c │ │ │ │ ├── arm_cfft_radix8_f32.c │ │ │ │ ├── arm_dct4_f32.c │ │ │ │ ├── arm_dct4_init_f32.c │ │ │ │ ├── arm_dct4_init_q15.c │ │ │ │ ├── arm_dct4_init_q31.c │ │ │ │ ├── arm_dct4_q15.c │ │ │ │ ├── arm_dct4_q31.c │ │ │ │ ├── arm_rfft_f32.c │ │ │ │ ├── arm_rfft_fast_f32.c │ │ │ │ ├── arm_rfft_fast_init_f32.c │ │ │ │ ├── arm_rfft_init_f32.c │ │ │ │ ├── arm_rfft_init_q15.c │ │ │ │ ├── arm_rfft_init_q31.c │ │ │ │ ├── arm_rfft_q15.c │ │ │ │ └── arm_rfft_q31.c │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F0xx │ │ │ │ ├── Include │ │ │ │ ├── stm32f030x6.h │ │ │ │ ├── stm32f030x8.h │ │ │ │ ├── stm32f030xc.h │ │ │ │ ├── stm32f031x6.h │ │ │ │ ├── stm32f038xx.h │ │ │ │ ├── stm32f042x6.h │ │ │ │ ├── stm32f048xx.h │ │ │ │ ├── stm32f051x8.h │ │ │ │ ├── stm32f058xx.h │ │ │ │ ├── stm32f070x6.h │ │ │ │ ├── stm32f070xb.h │ │ │ │ ├── stm32f071xb.h │ │ │ │ ├── stm32f072xb.h │ │ │ │ ├── stm32f078xx.h │ │ │ │ ├── stm32f091xc.h │ │ │ │ ├── stm32f098xx.h │ │ │ │ ├── stm32f0xx.h │ │ │ │ └── system_stm32f0xx.h │ │ │ │ ├── LICENSE.txt │ │ │ │ └── Source │ │ │ │ └── Templates │ │ │ │ ├── arm │ │ │ │ ├── startup_stm32f030x6.s │ │ │ │ ├── startup_stm32f030x8.s │ │ │ │ ├── startup_stm32f030xc.s │ │ │ │ ├── startup_stm32f031x6.s │ │ │ │ ├── startup_stm32f038xx.s │ │ │ │ ├── startup_stm32f042x6.s │ │ │ │ ├── startup_stm32f048xx.s │ │ │ │ ├── startup_stm32f051x8.s │ │ │ │ ├── startup_stm32f058xx.s │ │ │ │ ├── startup_stm32f070x6.s │ │ │ │ ├── startup_stm32f070xb.s │ │ │ │ ├── startup_stm32f071xb.s │ │ │ │ ├── startup_stm32f072xb.s │ │ │ │ ├── startup_stm32f078xx.s │ │ │ │ ├── startup_stm32f091xc.s │ │ │ │ └── startup_stm32f098xx.s │ │ │ │ ├── gcc │ │ │ │ ├── startup_stm32f030x6.s │ │ │ │ ├── startup_stm32f030x8.s │ │ │ │ ├── startup_stm32f030xc.s │ │ │ │ ├── startup_stm32f031x6.s │ │ │ │ ├── startup_stm32f038xx.s │ │ │ │ ├── startup_stm32f042x6.s │ │ │ │ ├── startup_stm32f048xx.s │ │ │ │ ├── startup_stm32f051x8.s │ │ │ │ ├── startup_stm32f058xx.s │ │ │ │ ├── startup_stm32f070x6.s │ │ │ │ ├── startup_stm32f070xb.s │ │ │ │ ├── startup_stm32f071xb.s │ │ │ │ ├── startup_stm32f072xb.s │ │ │ │ ├── startup_stm32f078xx.s │ │ │ │ ├── startup_stm32f091xc.s │ │ │ │ └── startup_stm32f098xx.s │ │ │ │ ├── iar │ │ │ │ ├── linker │ │ │ │ │ ├── stm32f030x6_flash.icf │ │ │ │ │ ├── stm32f030x8_flash.icf │ │ │ │ │ ├── stm32f030xc_flash.icf │ │ │ │ │ ├── stm32f031x6_flash.icf │ │ │ │ │ ├── stm32f038xx_flash.icf │ │ │ │ │ ├── stm32f042x6_flash.icf │ │ │ │ │ ├── stm32f048xx_flash.icf │ │ │ │ │ ├── stm32f051x8_flash.icf │ │ │ │ │ ├── stm32f058xx_flash.icf │ │ │ │ │ ├── stm32f070x6_flash.icf │ │ │ │ │ ├── stm32f070xb_flash.icf │ │ │ │ │ ├── stm32f071xb_flash.icf │ │ │ │ │ ├── stm32f072xb_flash.icf │ │ │ │ │ ├── stm32f078xx_flash.icf │ │ │ │ │ ├── stm32f091xc_flash.icf │ │ │ │ │ ├── stm32f091xc_sram.icf │ │ │ │ │ ├── stm32f098xx_flash.icf │ │ │ │ │ └── stm32f098xx_sram.icf │ │ │ │ ├── startup_stm32f030x6.s │ │ │ │ ├── startup_stm32f030x8.s │ │ │ │ ├── startup_stm32f030xc.s │ │ │ │ ├── startup_stm32f031x6.s │ │ │ │ ├── startup_stm32f038xx.s │ │ │ │ ├── startup_stm32f042x6.s │ │ │ │ ├── startup_stm32f048xx.s │ │ │ │ ├── startup_stm32f051x8.s │ │ │ │ ├── startup_stm32f058xx.s │ │ │ │ ├── startup_stm32f070x6.s │ │ │ │ ├── startup_stm32f070xb.s │ │ │ │ ├── startup_stm32f071xb.s │ │ │ │ ├── startup_stm32f072xb.s │ │ │ │ ├── startup_stm32f078xx.s │ │ │ │ ├── startup_stm32f091xc.s │ │ │ │ └── startup_stm32f098xx.s │ │ │ │ └── system_stm32f0xx.c │ │ ├── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ │ ├── LICENSE.txt │ │ ├── NN │ │ │ ├── Examples │ │ │ │ └── ARM │ │ │ │ │ └── arm_nn_examples │ │ │ │ │ ├── cifar10 │ │ │ │ │ ├── RTE │ │ │ │ │ │ ├── Compiler │ │ │ │ │ │ │ └── EventRecorderConf.h │ │ │ │ │ │ ├── _ARMCM0 │ │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ │ ├── _ARMCM3 │ │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ │ ├── _ARMCM4_FP │ │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ │ └── _ARMCM7_SP │ │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ ├── arm_nnexamples_cifar10.cpp │ │ │ │ │ ├── arm_nnexamples_cifar10_inputs.h │ │ │ │ │ ├── arm_nnexamples_cifar10_parameter.h │ │ │ │ │ ├── arm_nnexamples_cifar10_weights.h │ │ │ │ │ └── readme.txt │ │ │ │ │ └── gru │ │ │ │ │ ├── RTE │ │ │ │ │ ├── Compiler │ │ │ │ │ │ └── EventRecorderConf.h │ │ │ │ │ ├── _ARMCM0 │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ ├── _ARMCM3 │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ ├── _ARMCM4_FP │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ └── _ARMCM7_SP │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ ├── arm_nnexamples_gru.cpp │ │ │ │ │ ├── arm_nnexamples_gru_test_data.h │ │ │ │ │ └── readme.txt │ │ │ ├── Include │ │ │ │ ├── arm_nn_tables.h │ │ │ │ ├── arm_nnfunctions.h │ │ │ │ └── arm_nnsupportfunctions.h │ │ │ ├── NN_Lib_Tests │ │ │ │ └── nn_test │ │ │ │ │ ├── RTE │ │ │ │ │ ├── _ARMCM0 │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ ├── _ARMCM3 │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ ├── _ARMCM4_FP │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ └── _ARMCM7_SP │ │ │ │ │ │ └── RTE_Components.h │ │ │ │ │ ├── Ref_Implementations │ │ │ │ │ ├── arm_convolve_HWC_q15_ref.c │ │ │ │ │ ├── arm_convolve_HWC_q15_ref_nonsquare.c │ │ │ │ │ ├── arm_convolve_HWC_q7_ref.c │ │ │ │ │ ├── arm_convolve_HWC_q7_ref_nonsquare.c │ │ │ │ │ ├── arm_depthwise_separable_conv_HWC_q7_ref.c │ │ │ │ │ ├── arm_depthwise_separable_conv_HWC_q7_ref_nonsquare.c │ │ │ │ │ ├── arm_fully_connected_mat_q7_vec_q15_opt_ref.c │ │ │ │ │ ├── arm_fully_connected_mat_q7_vec_q15_ref.c │ │ │ │ │ ├── arm_fully_connected_q15_opt_ref.c │ │ │ │ │ ├── arm_fully_connected_q15_ref.c │ │ │ │ │ ├── arm_fully_connected_q7_opt_ref.c │ │ │ │ │ ├── arm_fully_connected_q7_ref.c │ │ │ │ │ ├── arm_nn_mult_ref.c │ │ │ │ │ ├── arm_pool_ref.c │ │ │ │ │ ├── arm_relu_ref.c │ │ │ │ │ ├── fully_connected_testing_weights.h │ │ │ │ │ └── ref_functions.h │ │ │ │ │ ├── arm_nnexamples_nn_test.cpp │ │ │ │ │ ├── arm_nnexamples_nn_test.h │ │ │ │ │ └── readme.txt │ │ │ └── Source │ │ │ │ ├── ActivationFunctions │ │ │ │ ├── arm_nn_activations_q15.c │ │ │ │ ├── arm_nn_activations_q7.c │ │ │ │ ├── arm_relu_q15.c │ │ │ │ └── arm_relu_q7.c │ │ │ │ ├── ConvolutionFunctions │ │ │ │ ├── arm_convolve_1x1_HWC_q7_fast_nonsquare.c │ │ │ │ ├── arm_convolve_HWC_q15_basic.c │ │ │ │ ├── arm_convolve_HWC_q15_fast.c │ │ │ │ ├── arm_convolve_HWC_q15_fast_nonsquare.c │ │ │ │ ├── arm_convolve_HWC_q7_RGB.c │ │ │ │ ├── arm_convolve_HWC_q7_basic.c │ │ │ │ ├── arm_convolve_HWC_q7_basic_nonsquare.c │ │ │ │ ├── arm_convolve_HWC_q7_fast.c │ │ │ │ ├── arm_convolve_HWC_q7_fast_nonsquare.c │ │ │ │ ├── arm_depthwise_separable_conv_HWC_q7.c │ │ │ │ ├── arm_depthwise_separable_conv_HWC_q7_nonsquare.c │ │ │ │ ├── arm_nn_mat_mult_kernel_q7_q15.c │ │ │ │ └── arm_nn_mat_mult_kernel_q7_q15_reordered.c │ │ │ │ ├── FullyConnectedFunctions │ │ │ │ ├── arm_fully_connected_mat_q7_vec_q15.c │ │ │ │ ├── arm_fully_connected_mat_q7_vec_q15_opt.c │ │ │ │ ├── arm_fully_connected_q15.c │ │ │ │ ├── arm_fully_connected_q15_opt.c │ │ │ │ ├── arm_fully_connected_q7.c │ │ │ │ └── arm_fully_connected_q7_opt.c │ │ │ │ ├── NNSupportFunctions │ │ │ │ ├── arm_nn_mult_q15.c │ │ │ │ ├── arm_nn_mult_q7.c │ │ │ │ ├── arm_nntables.c │ │ │ │ ├── arm_q7_to_q15_no_shift.c │ │ │ │ └── arm_q7_to_q15_reordered_no_shift.c │ │ │ │ ├── PoolingFunctions │ │ │ │ └── arm_pool_q7_HWC.c │ │ │ │ └── SoftmaxFunctions │ │ │ │ ├── arm_softmax_q15.c │ │ │ │ └── arm_softmax_q7.c │ │ ├── RTOS │ │ │ └── Template │ │ │ │ └── cmsis_os.h │ │ ├── RTOS2 │ │ │ ├── Include │ │ │ │ ├── cmsis_os2.h │ │ │ │ └── os_tick.h │ │ │ ├── Source │ │ │ │ ├── os_systick.c │ │ │ │ ├── os_tick_gtim.c │ │ │ │ └── os_tick_ptim.c │ │ │ └── Template │ │ │ │ ├── cmsis_os.h │ │ │ │ └── cmsis_os1.c │ │ └── docs │ │ │ └── General │ │ │ └── html │ │ │ └── LICENSE.txt │ └── STM32F0xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ ├── stm32_hal_legacy.h │ │ │ └── stm32f0xx_hal_can_legacy.h │ │ ├── stm32_assert_template.h │ │ ├── stm32f0xx_hal.h │ │ ├── stm32f0xx_hal_adc.h │ │ ├── stm32f0xx_hal_adc_ex.h │ │ ├── stm32f0xx_hal_can.h │ │ ├── stm32f0xx_hal_cec.h │ │ ├── stm32f0xx_hal_comp.h │ │ ├── stm32f0xx_hal_conf_template.h │ │ ├── stm32f0xx_hal_cortex.h │ │ ├── stm32f0xx_hal_crc.h │ │ ├── stm32f0xx_hal_crc_ex.h │ │ ├── stm32f0xx_hal_dac.h │ │ ├── stm32f0xx_hal_dac_ex.h │ │ ├── stm32f0xx_hal_def.h │ │ ├── stm32f0xx_hal_dma.h │ │ ├── stm32f0xx_hal_dma_ex.h │ │ ├── stm32f0xx_hal_exti.h │ │ ├── stm32f0xx_hal_flash.h │ │ ├── stm32f0xx_hal_flash_ex.h │ │ ├── stm32f0xx_hal_gpio.h │ │ ├── stm32f0xx_hal_gpio_ex.h │ │ ├── stm32f0xx_hal_i2c.h │ │ ├── stm32f0xx_hal_i2c_ex.h │ │ ├── stm32f0xx_hal_i2s.h │ │ ├── stm32f0xx_hal_irda.h │ │ ├── stm32f0xx_hal_irda_ex.h │ │ ├── stm32f0xx_hal_iwdg.h │ │ ├── stm32f0xx_hal_pcd.h │ │ ├── stm32f0xx_hal_pcd_ex.h │ │ ├── stm32f0xx_hal_pwr.h │ │ ├── stm32f0xx_hal_pwr_ex.h │ │ ├── stm32f0xx_hal_rcc.h │ │ ├── stm32f0xx_hal_rcc_ex.h │ │ ├── stm32f0xx_hal_rtc.h │ │ ├── stm32f0xx_hal_rtc_ex.h │ │ ├── stm32f0xx_hal_smartcard.h │ │ ├── stm32f0xx_hal_smartcard_ex.h │ │ ├── stm32f0xx_hal_smbus.h │ │ ├── stm32f0xx_hal_spi.h │ │ ├── stm32f0xx_hal_spi_ex.h │ │ ├── stm32f0xx_hal_tim.h │ │ ├── stm32f0xx_hal_tim_ex.h │ │ ├── stm32f0xx_hal_tsc.h │ │ ├── stm32f0xx_hal_uart.h │ │ ├── stm32f0xx_hal_uart_ex.h │ │ ├── stm32f0xx_hal_usart.h │ │ ├── stm32f0xx_hal_usart_ex.h │ │ ├── stm32f0xx_hal_wwdg.h │ │ ├── stm32f0xx_ll_adc.h │ │ ├── stm32f0xx_ll_bus.h │ │ ├── stm32f0xx_ll_comp.h │ │ ├── stm32f0xx_ll_cortex.h │ │ ├── stm32f0xx_ll_crc.h │ │ ├── stm32f0xx_ll_crs.h │ │ ├── stm32f0xx_ll_dac.h │ │ ├── stm32f0xx_ll_dma.h │ │ ├── stm32f0xx_ll_exti.h │ │ ├── stm32f0xx_ll_gpio.h │ │ ├── stm32f0xx_ll_i2c.h │ │ ├── stm32f0xx_ll_iwdg.h │ │ ├── stm32f0xx_ll_pwr.h │ │ ├── stm32f0xx_ll_rcc.h │ │ ├── stm32f0xx_ll_rtc.h │ │ ├── stm32f0xx_ll_spi.h │ │ ├── stm32f0xx_ll_system.h │ │ ├── stm32f0xx_ll_tim.h │ │ ├── stm32f0xx_ll_usart.h │ │ ├── stm32f0xx_ll_usb.h │ │ ├── stm32f0xx_ll_utils.h │ │ └── stm32f0xx_ll_wwdg.h │ │ ├── LICENSE.txt │ │ └── Src │ │ ├── stm32f0xx_hal.c │ │ ├── stm32f0xx_hal_adc.c │ │ ├── stm32f0xx_hal_adc_ex.c │ │ ├── stm32f0xx_hal_can.c │ │ ├── stm32f0xx_hal_cec.c │ │ ├── stm32f0xx_hal_comp.c │ │ ├── stm32f0xx_hal_cortex.c │ │ ├── stm32f0xx_hal_crc.c │ │ ├── stm32f0xx_hal_crc_ex.c │ │ ├── stm32f0xx_hal_dac.c │ │ ├── stm32f0xx_hal_dac_ex.c │ │ ├── stm32f0xx_hal_dma.c │ │ ├── stm32f0xx_hal_exti.c │ │ ├── stm32f0xx_hal_flash.c │ │ ├── stm32f0xx_hal_flash_ex.c │ │ ├── stm32f0xx_hal_gpio.c │ │ ├── stm32f0xx_hal_i2c.c │ │ ├── stm32f0xx_hal_i2c_ex.c │ │ ├── stm32f0xx_hal_i2s.c │ │ ├── stm32f0xx_hal_irda.c │ │ ├── stm32f0xx_hal_iwdg.c │ │ ├── stm32f0xx_hal_msp_template.c │ │ ├── stm32f0xx_hal_pcd.c │ │ ├── stm32f0xx_hal_pcd_ex.c │ │ ├── stm32f0xx_hal_pwr.c │ │ ├── stm32f0xx_hal_pwr_ex.c │ │ ├── stm32f0xx_hal_rcc.c │ │ ├── stm32f0xx_hal_rcc_ex.c │ │ ├── stm32f0xx_hal_rtc.c │ │ ├── stm32f0xx_hal_rtc_ex.c │ │ ├── stm32f0xx_hal_smartcard.c │ │ ├── stm32f0xx_hal_smartcard_ex.c │ │ ├── stm32f0xx_hal_smbus.c │ │ ├── stm32f0xx_hal_spi.c │ │ ├── stm32f0xx_hal_spi_ex.c │ │ ├── stm32f0xx_hal_tim.c │ │ ├── stm32f0xx_hal_tim_ex.c │ │ ├── stm32f0xx_hal_timebase_rtc_alarm_template.c │ │ ├── stm32f0xx_hal_timebase_rtc_wakeup_template.c │ │ ├── stm32f0xx_hal_timebase_tim_template.c │ │ ├── stm32f0xx_hal_tsc.c │ │ ├── stm32f0xx_hal_uart.c │ │ ├── stm32f0xx_hal_uart_ex.c │ │ ├── stm32f0xx_hal_usart.c │ │ ├── stm32f0xx_hal_usart_ex.c │ │ ├── stm32f0xx_hal_wwdg.c │ │ ├── stm32f0xx_ll_adc.c │ │ ├── stm32f0xx_ll_comp.c │ │ ├── stm32f0xx_ll_crc.c │ │ ├── stm32f0xx_ll_crs.c │ │ ├── stm32f0xx_ll_dac.c │ │ ├── stm32f0xx_ll_dma.c │ │ ├── stm32f0xx_ll_exti.c │ │ ├── stm32f0xx_ll_gpio.c │ │ ├── stm32f0xx_ll_i2c.c │ │ ├── stm32f0xx_ll_pwr.c │ │ ├── stm32f0xx_ll_rcc.c │ │ ├── stm32f0xx_ll_rtc.c │ │ ├── stm32f0xx_ll_spi.c │ │ ├── stm32f0xx_ll_tim.c │ │ ├── stm32f0xx_ll_usart.c │ │ ├── stm32f0xx_ll_usb.c │ │ └── stm32f0xx_ll_utils.c ├── Makefile ├── STM32F042K6Tx_FLASH.ld ├── Users │ ├── ads1256.c │ ├── ads1256.h │ ├── delay.c │ ├── delay.h │ ├── fsr.c │ └── fsr.h ├── assets │ ├── DexUMI_Inspire.hex │ ├── DexUMI_XHand.hex │ └── pin_allocation.png └── startup_stm32f042x6.s ├── environment.yml ├── environment_design.yml ├── linkage_optimization ├── get_equivalent_finger.py ├── get_equivalent_thumb.py ├── get_real_fingertips_trajectory.py ├── get_sim_fingertips_trajectory.py ├── hardware_design_data │ ├── inspire_mocap │ │ └── inspire_hand_mocap_1-6-low_residual_0.39 │ │ │ ├── .zgroup │ │ │ ├── index │ │ │ ├── .zgroup │ │ │ └── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ ├── .zarray │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ ├── .zarray │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ ├── 0 │ │ │ │ └── .zarray │ │ │ ├── little │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_1 │ │ │ │ └── .zgroup │ │ │ ├── middle │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_1 │ │ │ │ └── .zgroup │ │ │ ├── ring │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_1 │ │ │ │ └── .zgroup │ │ │ ├── thumb_proximal_0 │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_1 │ │ │ │ └── .zgroup │ │ │ ├── thumb_proximal_100 │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_1 │ │ │ │ └── .zgroup │ │ │ ├── thumb_proximal_1000 │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ ├── episode_1 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_2 │ │ │ │ └── .zgroup │ │ │ ├── thumb_proximal_200 │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ ├── episode_1 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_2 │ │ │ │ └── .zgroup │ │ │ ├── thumb_proximal_300 │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_1 │ │ │ │ └── .zgroup │ │ │ ├── thumb_proximal_400 │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ ├── episode_1 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_2 │ │ │ │ └── .zgroup │ │ │ ├── thumb_proximal_500 │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_1 │ │ │ │ └── .zgroup │ │ │ ├── thumb_proximal_600 │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ ├── episode_1 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_2 │ │ │ │ └── .zgroup │ │ │ ├── thumb_proximal_700 │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_1 │ │ │ │ └── .zgroup │ │ │ ├── thumb_proximal_800 │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_1 │ │ │ │ └── .zgroup │ │ │ ├── thumb_proximal_900 │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ ├── episode_1 │ │ │ │ ├── .zgroup │ │ │ │ ├── fingertips_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ ├── inspire_hand_marker │ │ │ │ │ ├── .zarray │ │ │ │ │ └── 0.0.0 │ │ │ │ └── motor_value │ │ │ │ │ ├── 0 │ │ │ │ │ └── .zarray │ │ │ └── episode_2 │ │ │ │ └── .zgroup │ │ │ └── thumb_swing │ │ │ ├── .zgroup │ │ │ ├── episode_0 │ │ │ ├── .zgroup │ │ │ ├── fingertips_marker │ │ │ │ ├── .zarray │ │ │ │ └── 0.0.0 │ │ │ ├── inspire_hand_marker │ │ │ │ ├── .zarray │ │ │ │ └── 0.0.0 │ │ │ └── motor_value │ │ │ │ ├── 0 │ │ │ │ └── .zarray │ │ │ └── episode_1 │ │ │ └── .zgroup │ └── inspire_optimization_results │ │ └── 2025_1_11 │ │ ├── finger │ │ ├── eq_finger.html │ │ ├── index.urdf │ │ ├── little.urdf │ │ ├── middle.urdf │ │ ├── optimization_results.jsonl │ │ ├── progress_bars.txt │ │ └── ring.urdf │ │ └── thumb │ │ ├── eq_finger.html │ │ ├── optimization_results.jsonl │ │ ├── progress_bars.txt │ │ ├── thumb_proximal_0.urdf │ │ ├── thumb_proximal_1000.urdf │ │ ├── thumb_proximal_300.urdf │ │ └── thumb_proximal_600.urdf ├── inspire_urdf_writer.py ├── simple_regression.py ├── sweep_valid_linkage_design.py ├── viz_full_fk.py └── viz_multi_fingertips_trajectory.py ├── mocap ├── inspire_mocap.py ├── latency_util.py └── mocap_util │ ├── data_descriptions.py │ ├── mocap_data.py │ ├── mocap_node.py │ └── natnet_client.py └── real_script ├── calibration ├── compute_ur5_iphone_offset.py └── record_ur5_trajectory.py ├── camera_calibration ├── display_rolling_time_qr.py ├── measure_latency.py └── print_pose_esimation_qr_code.py ├── data_collection └── record_exoskeleton.py ├── data_generation_pipeline ├── 0_interpolation.py ├── 1_replay_hand.py ├── 2_to_jpg.py ├── 3_segment.py ├── 4_inpaint_exo.py ├── 5_compose_video.py ├── 6_generate_dataset.py ├── camera_position.py ├── process.sh ├── render_all_dataset.py ├── render_dataset.py ├── replay_exoskeleton_trajectory.py └── viz_pose.py ├── eval_policy ├── eval_inspire_hand.py └── eval_xhand.py ├── open_server.py ├── policy_training └── train_diffusion_policy.py └── teleoperation ├── calibrate_inspire_mapping.py ├── calibrate_xhand_mapping.py ├── overlay.py ├── teleop_ur5.py └── teleoperation.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/real-stanford/DexUMI/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/real-stanford/DexUMI/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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