├── .gitignore ├── LICENSE ├── README.md ├── assets ├── audio_hardware.jpg ├── audio_method.jpg └── audio_teaser.jpg ├── conda_environment.yaml ├── data └── robot-noise-calib │ └── robot.wav ├── diffusion_policy ├── codecs │ └── imagecodecs_numcodecs.py ├── common │ ├── checkpoint_util.py │ ├── cv2_util.py │ ├── env_util.py │ ├── json_logger.py │ ├── nested_dict_util.py │ ├── normalize_util.py │ ├── pose_repr_util.py │ ├── pose_trajectory_interpolator.py │ ├── precise_sleep.py │ ├── pymunk_override.py │ ├── pymunk_util.py │ ├── pytorch_util.py │ ├── replay_buffer.py │ ├── robomimic_config_util.py │ ├── robomimic_util.py │ ├── sampler.py │ └── timestamp_accumulator.py ├── config │ ├── legacy │ │ ├── task │ │ │ ├── blockpush_lowdim_seed.yaml │ │ │ ├── blockpush_lowdim_seed_abs.yaml │ │ │ ├── can_image.yaml │ │ │ ├── can_image_abs.yaml │ │ │ ├── can_lowdim.yaml │ │ │ ├── can_lowdim_abs.yaml │ │ │ ├── kitchen_lowdim.yaml │ │ │ ├── kitchen_lowdim_abs.yaml │ │ │ ├── lift_abs.yaml │ │ │ ├── lift_image.yaml │ │ │ ├── lift_image_abs.yaml │ │ │ ├── lift_lowdim.yaml │ │ │ ├── lift_lowdim_abs.yaml │ │ │ ├── pusht_image.yaml │ │ │ ├── pusht_lowdim.yaml │ │ │ ├── real_pusht_image.yaml │ │ │ ├── square_abs.yaml │ │ │ ├── square_image.yaml │ │ │ ├── square_image_abs.yaml │ │ │ ├── square_lowdim.yaml │ │ │ ├── square_lowdim_abs.yaml │ │ │ ├── tool_hang_abs.yaml │ │ │ ├── tool_hang_image.yaml │ │ │ ├── tool_hang_image_abs.yaml │ │ │ ├── tool_hang_lowdim.yaml │ │ │ ├── tool_hang_lowdim_abs.yaml │ │ │ ├── transport_image.yaml │ │ │ ├── transport_image_abs.yaml │ │ │ ├── transport_lowdim.yaml │ │ │ ├── transport_lowdim_abs.yaml │ │ │ ├── umi.yaml │ │ │ ├── umi_image.yaml │ │ │ └── umi_teleop_image.yaml │ │ ├── train_bet_lowdim_workspace.yaml │ │ ├── train_diffusion_transformer_hybrid_workspace.yaml │ │ ├── train_diffusion_transformer_lowdim_kitchen_workspace.yaml │ │ ├── train_diffusion_transformer_lowdim_pusht_workspace.yaml │ │ ├── train_diffusion_transformer_lowdim_workspace.yaml │ │ ├── train_diffusion_transformer_real_hybrid_workspace.yaml │ │ ├── train_diffusion_transformer_umi_teleop_hybrid_workspace.yaml │ │ ├── train_diffusion_unet_ddim_hybrid_workspace.yaml │ │ ├── train_diffusion_unet_ddim_lowdim_workspace.yaml │ │ ├── train_diffusion_unet_hybrid_workspace.yaml │ │ ├── train_diffusion_unet_image_pretrained_workspace.yaml │ │ ├── train_diffusion_unet_image_workspace.yaml │ │ ├── train_diffusion_unet_lowdim_workspace.yaml │ │ ├── train_diffusion_unet_real_hybrid_workspace.yaml │ │ ├── train_diffusion_unet_real_image_workspace.yaml │ │ ├── train_diffusion_unet_real_pretrained_workspace.yaml │ │ ├── train_diffusion_unet_timm_workspace.yaml │ │ ├── train_diffusion_unet_umi_hybrid_workspace.yaml │ │ ├── train_diffusion_unet_umi_teleop_hybrid_workspace.yaml │ │ ├── train_diffusion_unet_umi_timm_workspace.yaml │ │ ├── train_diffusion_unet_umi_workspace.yaml │ │ ├── train_diffusion_unet_video_workspace.yaml │ │ ├── train_ibc_dfo_hybrid_workspace.yaml │ │ ├── train_ibc_dfo_lowdim_workspace.yaml │ │ ├── train_ibc_dfo_real_hybrid_workspace.yaml │ │ ├── train_robomimic_image_workspace.yaml │ │ ├── train_robomimic_lowdim_workspace.yaml │ │ └── train_robomimic_real_image_workspace.yaml │ ├── task │ │ ├── lift.yaml │ │ ├── square.yaml │ │ ├── tool_hang.yaml │ │ ├── tool_hang_abs.yaml │ │ ├── umi.yaml │ │ ├── umi_bimanual.yaml │ │ ├── umi_image.yaml │ │ ├── umi_maniwav.yaml │ │ └── umi_teleop_image.yaml │ ├── train_diffusion_transformer_umi_bimanual_workspace.yaml │ ├── train_diffusion_transformer_umi_workspace.yaml │ ├── train_diffusion_unet_image_workspace.yaml │ ├── train_diffusion_unet_maniwav_workspace.yaml │ ├── train_diffusion_unet_timm_robomimic_workspace.yaml │ ├── train_diffusion_unet_timm_umi_workspace.yaml │ └── train_diffusion_unet_umi_bimanual_workspace.yaml ├── dataset │ ├── base_dataset.py │ ├── blockpush_lowdim_dataset.py │ ├── kitchen_lowdim_dataset.py │ ├── kitchen_mjl_lowdim_dataset.py │ ├── pusht_dataset.py │ ├── pusht_image_dataset.py │ ├── real_pusht_image_dataset.py │ ├── robomimic_replay_dataset.py │ ├── robomimic_replay_image_dataset.py │ ├── robomimic_replay_lowdim_dataset.py │ ├── umi_dataset.py │ ├── umi_image_dataset.py │ ├── umi_maniwav_dataset.py │ └── umi_teleop_image_dataset.py ├── env │ ├── block_pushing │ │ ├── assets │ │ │ ├── block.urdf │ │ │ ├── block2.urdf │ │ │ ├── blocks │ │ │ │ ├── blue_cube.urdf │ │ │ │ ├── cube.obj │ │ │ │ ├── green_star.urdf │ │ │ │ ├── moon.obj │ │ │ │ ├── pentagon.obj │ │ │ │ ├── red_moon.urdf │ │ │ │ ├── star.obj │ │ │ │ └── yellow_pentagon.urdf │ │ │ ├── insert.urdf │ │ │ ├── plane.obj │ │ │ ├── suction │ │ │ │ ├── base.obj │ │ │ │ ├── cylinder.urdf │ │ │ │ ├── cylinder_real.urdf │ │ │ │ ├── head.obj │ │ │ │ ├── mid.obj │ │ │ │ ├── suction-base.urdf │ │ │ │ ├── suction-head-long.urdf │ │ │ │ ├── suction-head.urdf │ │ │ │ └── tip.obj │ │ │ ├── workspace.urdf │ │ │ ├── workspace_real.urdf │ │ │ ├── zone.obj │ │ │ ├── zone.urdf │ │ │ └── zone2.urdf │ │ ├── block_pushing.py │ │ ├── block_pushing_discontinuous.py │ │ ├── block_pushing_multimodal.py │ │ ├── oracles │ │ │ ├── discontinuous_push_oracle.py │ │ │ ├── multimodal_push_oracle.py │ │ │ ├── oriented_push_oracle.py │ │ │ ├── pushing_info.py │ │ │ └── reach_oracle.py │ │ └── utils │ │ │ ├── pose3d.py │ │ │ ├── utils_pybullet.py │ │ │ └── xarm_sim_robot.py │ ├── kitchen │ │ ├── __init__.py │ │ ├── base.py │ │ ├── kitchen_lowdim_wrapper.py │ │ ├── kitchen_util.py │ │ ├── relay_policy_learning │ │ │ ├── adept_envs │ │ │ │ ├── .pylintrc │ │ │ │ ├── .style.yapf │ │ │ │ └── adept_envs │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── base_robot.py │ │ │ │ │ ├── franka │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── assets │ │ │ │ │ │ └── franka_kitchen_jntpos_act_ab.xml │ │ │ │ │ ├── kitchen_multitask_v0.py │ │ │ │ │ └── robot │ │ │ │ │ │ ├── franka_config.xml │ │ │ │ │ │ └── franka_robot.py │ │ │ │ │ ├── mujoco_env.py │ │ │ │ │ ├── robot_env.py │ │ │ │ │ ├── simulation │ │ │ │ │ ├── module.py │ │ │ │ │ ├── renderer.py │ │ │ │ │ └── sim_robot.py │ │ │ │ │ └── utils │ │ │ │ │ ├── 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 │ │ │ └── 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 │ │ └── v0.py │ ├── pusht │ │ ├── __init__.py │ │ ├── pusht_env.py │ │ ├── pusht_image_env.py │ │ ├── pusht_keypoints_env.py │ │ ├── pymunk_keypoint_manager.py │ │ └── pymunk_override.py │ └── robomimic │ │ ├── robomimic_image_wrapper.py │ │ └── robomimic_lowdim_wrapper.py ├── env_runner │ ├── base_image_runner.py │ ├── base_lowdim_runner.py │ ├── blockpush_lowdim_runner.py │ ├── kitchen_lowdim_runner.py │ ├── pusht_image_runner.py │ ├── pusht_keypoints_runner.py │ ├── real_pusht_image_runner.py │ ├── robomimic_image_runner.py │ ├── robomimic_lowdim_runner.py │ └── robomimic_runner.py ├── gym_util │ ├── async_vector_env.py │ ├── multistep_wrapper.py │ ├── sync_vector_env.py │ ├── video_recording_wrapper.py │ └── video_wrapper.py ├── model │ ├── bet │ │ ├── action_ae │ │ │ ├── __init__.py │ │ │ └── discretizers │ │ │ │ └── k_means.py │ │ ├── latent_generators │ │ │ ├── latent_generator.py │ │ │ ├── mingpt.py │ │ │ └── transformer.py │ │ ├── libraries │ │ │ ├── loss_fn.py │ │ │ └── mingpt │ │ │ │ ├── LICENSE │ │ │ │ ├── __init__.py │ │ │ │ ├── model.py │ │ │ │ ├── trainer.py │ │ │ │ └── utils.py │ │ └── utils.py │ ├── common │ │ ├── dict_of_tensor_mixin.py │ │ ├── lr_scheduler.py │ │ ├── module_attr_mixin.py │ │ ├── noise_aug.py │ │ ├── normalizer.py │ │ ├── rotation_transformer.py │ │ ├── shape_util.py │ │ └── tensor_util.py │ ├── diffusion │ │ ├── conditional_unet1d.py │ │ ├── conv1d_components.py │ │ ├── ema_model.py │ │ ├── mask_generator.py │ │ ├── positional_embedding.py │ │ ├── transformer_for_action_diffusion.py │ │ └── transformer_for_diffusion.py │ └── vision │ │ ├── audio_encoder.py │ │ ├── crop_randomizer.py │ │ ├── maniwav_obs_encoder.py │ │ ├── model_getter.py │ │ ├── multi_image_obs_encoder.py │ │ ├── timm_obs_encoder.py │ │ └── transformer_obs_encoder.py ├── policy │ ├── base_image_policy.py │ ├── base_lowdim_policy.py │ ├── bet_lowdim_policy.py │ ├── diffusion_transformer_hybrid_image_policy.py │ ├── diffusion_transformer_lowdim_policy.py │ ├── diffusion_transformer_timm_policy.py │ ├── diffusion_unet_hybrid_image_policy.py │ ├── diffusion_unet_image_policy.py │ ├── diffusion_unet_lowdim_policy.py │ ├── diffusion_unet_maniwav_policy.py │ ├── diffusion_unet_timm_policy.py │ ├── diffusion_unet_video_policy.py │ ├── ibc_dfo_hybrid_image_policy.py │ ├── ibc_dfo_lowdim_policy.py │ ├── robomimic_image_policy.py │ └── robomimic_lowdim_policy.py ├── real_world │ ├── keystroke_counter.py │ ├── multi_camera_visualizer.py │ ├── multi_realsense.py │ ├── real_data_conversion.py │ ├── real_env.py │ ├── real_inference_util.py │ ├── realsense_config │ │ ├── 415_high_accuracy_mode.json │ │ └── 435_high_accuracy_mode.json │ ├── rtde_interpolation_controller.py │ ├── single_realsense.py │ ├── spacemouse.py │ ├── spacemouse_shared_memory.py │ ├── umi_env.py │ └── video_recorder.py ├── scripts │ ├── bet_blockpush_conversion.py │ ├── blockpush_abs_conversion.py │ ├── episode_lengths.py │ ├── generate_bet_blockpush.py │ ├── real_dataset_conversion.py │ ├── real_pusht_metrics.py │ ├── real_pusht_successrate.py │ ├── robomimic_dataset_action_comparison.py │ └── robomimic_dataset_conversion.py ├── shared_memory │ ├── shared_memory_queue.py │ ├── shared_memory_ring_buffer.py │ ├── shared_memory_util.py │ └── shared_ndarray.py └── workspace │ ├── base_workspace.py │ ├── train_bet_lowdim_workspace.py │ ├── train_diffusion_transformer_hybrid_workspace.py │ ├── train_diffusion_transformer_lowdim_workspace.py │ ├── train_diffusion_transformer_timm_workspace.py │ ├── train_diffusion_unet_hybrid_workspace.py │ ├── train_diffusion_unet_image_workspace.py │ ├── train_diffusion_unet_lowdim_workspace.py │ ├── train_diffusion_unet_maniwav_workspace.py │ ├── train_diffusion_unet_video_workspace.py │ ├── train_ibc_dfo_hybrid_workspace.py │ ├── train_ibc_dfo_lowdim_workspace.py │ ├── train_robomimic_image_workspace.py │ └── train_robomimic_lowdim_workspace.py ├── example ├── calibration │ ├── aruco_config.yaml │ └── gopro_intrinsics_2_7k.json └── eval_robots_config.yaml ├── franka_instruction.md ├── run_slam_pipeline.py ├── scripts ├── calibrate_gripper_latency.py ├── calibrate_gripper_range.py ├── calibrate_robot_latency.py ├── calibrate_robot_world_hand_eye.py ├── calibrate_slam_tag.py ├── calibrate_timecode_offset.py ├── calibrate_uvc_camera_latency.py ├── check_gopro_orientation.py ├── control_robot_spacemouse_traj.py ├── count_dataset_videos.py ├── detect_aruco.py ├── detect_bad_rotation.py ├── draw_aurco_detection.py ├── draw_charuco_detection.py ├── eval_real_robot.py ├── filter_videos.py ├── gen_aruco_tag_pdf.py ├── gen_charuco_board.py ├── gen_image_mask.py ├── generate_video_thumbnail.py ├── generate_video_thumbnail_demos.py ├── record_robot_world_hand_eye.py ├── replay_real_robot.py ├── reset_usb.py ├── slam_pose_replay.py ├── uvc_camera.py └── uvc_camera_test.py ├── scripts_real ├── control_franka.py ├── control_robot_spacemouse.py ├── control_robots.py ├── control_wsg_spacemouse.py ├── demo_real_bimanual_robots.py ├── demo_real_robot.py ├── demo_real_umi.py ├── eval_real_bimanual_umi.py ├── eval_real_robot.py ├── eval_real_umi.py ├── eval_replay_real_robot.py ├── latency_test_wsg.py ├── launch_franka_interface_server.py └── replay_real_bimanual_umi.py ├── scripts_slam_pipeline ├── 00_process_videos.py ├── 01_extract_gopro_imu.py ├── 02_create_map.py ├── 03_batch_slam.py ├── 04_detect_aruco.py ├── 05_run_calibrations.py ├── 06_generate_dataset_plan.py └── 07_generate_replay_buffer.py ├── tests ├── test_microphone.py ├── test_multi_uvc_camera.py ├── test_pose_util.py └── test_uvc_camera.py ├── train.py ├── umi ├── asset │ └── mask.json ├── common │ ├── cv_util.py │ ├── exiftool_util.py │ ├── interpolation_util.py │ ├── k3d_util.py │ ├── latency_util.py │ ├── mocap_util.py │ ├── nested_dict_util.py │ ├── orb_slam_util.py │ ├── pose_trajectory_interpolator.py │ ├── pose_util.py │ ├── precise_sleep.py │ ├── timecode_util.py │ ├── timestamp_accumulator.py │ └── usb_util.py ├── pipeline │ └── aruco_detection.py ├── real_world │ ├── audio_recorder.py │ ├── bimanual_umi_env.py │ ├── cmd_measure.lua │ ├── franka_interpolation_controller.py │ ├── keystroke_counter.py │ ├── mic.py │ ├── multi_camera_visualizer.py │ ├── multi_mic.py │ ├── multi_uvc_camera.py │ ├── real_env.py │ ├── real_inference_util.py │ ├── rtde_interpolation_controller.py │ ├── spacemouse_shared_memory.py │ ├── umi_env.py │ ├── uvc_camera.py │ ├── video_recorder.py │ ├── wsg_binary_driver.py │ └── wsg_controller.py ├── shared_memory │ ├── shared_memory_queue.py │ ├── shared_memory_ring_buffer.py │ ├── shared_memory_util.py │ └── shared_ndarray.py └── traj_eval 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