├── .gitignore ├── LICENSE ├── README.md ├── bash ├── collect_data.sh ├── install_deps.sh ├── install_rlbench.sh ├── start_eval.sh ├── start_eval_ksteps.sh ├── start_runs.sh └── start_train.sh ├── conf ├── backbone │ ├── mlp_3dp.yaml │ ├── pointmlp.yaml │ ├── pointnet.yaml │ └── resnet_dp.yaml ├── collect_demos_train.yaml ├── collect_demos_valid.yaml ├── eval.yaml ├── experiment │ ├── adaflow.yaml │ ├── diffusion_policy.yaml │ ├── dp3.yaml │ ├── pointflowmatch.yaml │ ├── pointflowmatch_ddim.yaml │ ├── pointflowmatch_images.yaml │ ├── pointflowmatch_real.yaml │ └── pointflowmatch_so3.yaml ├── model │ ├── ddim.yaml │ ├── flow.yaml │ ├── flow_5p.yaml │ ├── flow_se3.yaml │ ├── flow_so3.yaml │ ├── flow_so3delta.yaml │ └── flow_target.yaml ├── train.yaml └── trainer_eval.yaml ├── pfp ├── __init__.py ├── backbones │ ├── mlp_3dp.py │ ├── pointmlp.py │ ├── pointnet.py │ └── resnet_dp.py ├── common │ ├── fm_utils.py │ ├── o3d_utils.py │ ├── se3_utils.py │ └── visualization.py ├── data │ ├── dataset_images.py │ ├── dataset_pcd.py │ └── replay_buffer.py ├── envs │ ├── base_env.py │ ├── rlbench_env.py │ └── rlbench_runner.py └── policy │ ├── base_policy.py │ ├── ddim_policy.py │ ├── fm_5p_policy.py │ ├── fm_policy.py │ ├── fm_se3_policy.py │ ├── fm_so3_policy.py │ ├── fm_so3delta_policy.py │ └── fm_target_policy.py ├── pyproject.toml ├── sandbox ├── augmentation.py ├── learning_rate.py ├── pypose_play.py ├── state_5p.py ├── vis_random_traj.py ├── vis_t_schedule.py └── vis_urdf.py ├── scripts ├── collect_demos.py ├── convert_data.py ├── evaluate.py ├── plots.py ├── print_ablation.py ├── print_experiments.py ├── train.py ├── train_real.py ├── trainer_eval.py └── vis_dataset.py ├── toy_circle ├── model.py ├── train_fm_euclid.py ├── train_fm_euclid_biased.py ├── train_fm_euclid_biased_inference.py ├── train_fm_so3.py ├── train_fm_so3_forward.py └── visualize_results.ipynb └── urdfs └── panda ├── meshes ├── Pandagripper_coll_1.dae ├── Pandagrippervisual_vis_1.dae ├── Pandagrippervisual_vis_2.dae ├── Pandagrippervisual_vis_3.dae ├── Pandagrippervisual_vis_4.dae ├── Pandagrippervisual_vis_5.dae ├── Pandaleftfingervisible_vis_1.dae ├── Pandaleftfingervisible_vis_2.dae ├── Pandalink0visual_vis_1.dae ├── Pandalink1respondable_coll_1.dae ├── Pandalink1visual_vis_1.dae ├── Pandalink2respondable_coll_1.dae ├── Pandalink2visual_vis_1.dae ├── Pandalink3respondable_coll_1.dae ├── Pandalink3visual_vis_1.dae ├── Pandalink3visual_vis_2.dae ├── Pandalink4respondable_coll_1.dae ├── Pandalink4visual_vis_1.dae ├── Pandalink4visual_vis_2.dae ├── Pandalink5respondable_coll_1.dae ├── Pandalink5respondable_coll_2.dae ├── Pandalink5respondable_coll_3.dae ├── Pandalink5respondable_coll_4.dae ├── Pandalink5respondable_coll_5.dae ├── Pandalink5respondable_coll_6.dae ├── Pandalink5respondable_coll_7.dae ├── Pandalink5visual_vis_1.dae ├── Pandalink5visual_vis_2.dae ├── Pandalink6respondable_coll_1.dae ├── Pandalink6visual_vis_1.dae ├── Pandalink6visual_vis_2.dae ├── 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