├── .gitignore ├── LICENSE ├── README.md ├── XSkill_teaser.png ├── config ├── realworld │ ├── label_real_kitchen_dataset.yaml │ └── skill_discovery.yaml └── simulation │ ├── create_kitchen_dataset.yaml │ ├── label_sim_kitchen_dataset.yaml │ ├── skill_discovery.yaml │ └── skill_transfer_composing.yaml ├── environment.yml ├── requirement.txt ├── scripts ├── create_all_kitchen_dataset.py ├── create_kitchen_dataset.py ├── extract_kitchen_info.py ├── label_sim_kitchen_dataset.py ├── realworld │ ├── label_real_kitchen_dataset.py │ └── skill_discovery.py ├── skill_discovery.py └── skill_transfer_composing.py ├── setup.py ├── viz_real.ipynb └── xskill ├── 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_trajectory_interpolator.py ├── precise_sleep.py ├── pytorch_util.py ├── replay_buffer.py ├── sampler.py └── timestamp_accumulator.py ├── dataset ├── base_dataset.py ├── dataset.py ├── diffusion_bc_dataset.py ├── frame_samplers.py ├── kitchen_mjl_lowdim_dataset.py ├── real_data_conversion.py ├── real_world_pretrain_dataset.py └── video_recorder.py ├── env └── 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 │ │ │ │ └── franka_kitchen_jntpos_act_ab_sphere.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 │ │ ├── assets_sphere.xml │ │ ├── basic_scene.xml │ │ ├── chain0.xml │ │ ├── chain0_overlay.xml │ │ ├── chain1.xml │ │ ├── chain2.xml │ │ └── teleop_actuator.xml │ │ ├── bi-franka_panda.xml │ │ ├── franka_panda.png │ │ ├── franka_panda.xml │ │ ├── franka_panda_sphere.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 ├── model ├── common │ ├── dict_of_tensor_mixin.py │ └── normalizer.py ├── core.py ├── diffusion_model.py ├── distribution.py ├── encoder.py ├── network.py └── transformer.py └── utility ├── diffusion_bc_callback.py ├── file_utils.py ├── transform.py └── utils.py /.gitignore: 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