├── .gitignore ├── FISH ├── agent │ ├── bc.py │ ├── dac.py │ ├── encoder.py │ ├── openloop.py │ ├── potil.py │ ├── potil_bc_offset.py │ ├── potil_openloop_offset.py │ ├── potil_vinn_offset.py │ └── vinn.py ├── cfgs │ ├── agent │ │ ├── bc.yaml │ │ ├── dac.yaml │ │ ├── openloop.yaml │ │ ├── potil.yaml │ │ ├── potil_bc_offset.yaml │ │ ├── potil_openloop_offset.yaml │ │ ├── potil_vinn_offset.yaml │ │ └── vinn.yaml │ ├── config.yaml │ ├── config_eval.yaml │ └── suite │ │ ├── handgym.yaml │ │ ├── handgym_task │ │ ├── bottlespin.yaml │ │ ├── cardslide.yaml │ │ └── cubeflip.yaml │ │ ├── hellogym.yaml │ │ ├── hellogym_task │ │ ├── dooropen.yaml │ │ ├── draweropen.yaml │ │ └── lightswitch.yaml │ │ ├── metaworld.yaml │ │ ├── metaworld_task │ │ ├── bin_picking.yaml │ │ ├── button_press_topdown.yaml │ │ ├── door_open.yaml │ │ ├── door_unlock.yaml │ │ ├── drawer_close.yaml │ │ ├── drawer_open.yaml │ │ ├── hammer.yaml │ │ └── params.yaml │ │ ├── robotgym.yaml │ │ └── robotgym_task │ │ ├── flipbagel.yaml │ │ ├── keyinsertion.yaml │ │ ├── params.yaml │ │ └── pegincup.yaml ├── eval_robot.py ├── helper │ ├── action_limits.py │ ├── combine_pkl.py │ ├── frame_stack_demos.py │ ├── get_metric.py │ ├── modify_demo_length.py │ ├── sample_demo_to_pkl.py │ ├── save_video.py │ └── subsample_demo.py ├── logger.py ├── replay_buffer_hand.py ├── replay_buffer_robot.py ├── rewarder.py ├── suite │ ├── handgym.py │ ├── hellogym.py │ ├── metaworld.py │ └── robotgym.py ├── train_hand.py ├── train_robot.py ├── utils.py └── video.py ├── LICENSE ├── README.md ├── conda_env.yml ├── gym-envs ├── gym_envs │ ├── __init__.py │ └── envs │ │ ├── __init__.py │ │ ├── hardware │ │ ├── camera.py │ │ └── robot.py │ │ ├── robot │ │ ├── __init__.py │ │ ├── flip.py │ │ ├── keyinsertion.py │ │ └── pegincup.py │ │ └── robot_env.py └── setup.py ├── hand-envs ├── hand_envs │ ├── __init__.py │ └── envs │ │ ├── __init__.py │ │ ├── bottlespin.py │ │ ├── cardslide.py │ │ ├── cubeflip.py │ │ └── hand_env.py └── 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