├── .gitignore ├── LICENSE ├── README.md ├── assets ├── docs │ ├── CALIB.md │ ├── DEPLOY.md │ └── INSTALL.md └── images │ ├── model.jpg │ └── teaser.jpg ├── command_eval.sh ├── command_train.sh ├── dataset ├── __init__.py ├── constants.py ├── projector.py └── realworld.py ├── device ├── __init__.py ├── camera │ ├── __init__.py │ └── realsense.py ├── gripper │ ├── __init__.py │ └── dahuan.py └── robot │ ├── __init__.py │ └── flexiv.py ├── eval.py ├── eval_agent.py ├── policy ├── __init__.py ├── diffusion.py ├── diffusion_modules │ ├── __init__.py │ ├── conditional_unet1d.py │ ├── conv1d_components.py │ ├── mask_generator.py │ ├── module_attr_mixin.py │ └── positional_embedding.py ├── minkowski │ ├── __init__.py │ ├── common.py │ ├── resnet.py │ └── resnet_block.py ├── policy.py ├── tokenizer.py └── transformer.py ├── requirements.txt ├── train.py └── utils ├── __init__.py ├── constants.py ├── ensemble.py ├── rotation_utils.py ├── training.py └── transformation.py /.gitignore: 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