├── .DS_Store ├── .gitattributes ├── .idea ├── .gitignore ├── DualAfford.iml ├── inspectionProfiles │ └── profiles_settings.xml ├── misc.xml └── modules.xml ├── README.md ├── code ├── .DS_Store ├── blender_utils │ ├── camera.blend │ ├── cube.obj │ ├── geometry_utils.py │ ├── quaternion.py │ ├── render_blender.py │ └── render_using_blender.py ├── camera.py ├── camera_rl.py ├── cate_setting.json ├── collect_data.py ├── collect_data_SAC.py ├── collect_data_checkDual.py ├── collect_data_main.py ├── data.py ├── env.py ├── env_rl.py ├── eval_sampleSucc.py ├── eval_sampleSucc_main.py ├── gen_cate_setting.py ├── logs │ ├── .gitignore │ ├── README.md │ └── w2a │ │ └── finalexp-model_all_final-pulling-None-train_all_v1 │ │ ├── ckpts │ │ ├── 81-lr_scheduler.pth │ │ ├── 81-network.pth │ │ ├── 81-optimizer.pth │ │ ├── 81-sample_succ_list.pth │ │ └── 81-train_dataset.pth │ │ ├── conf.pth │ │ ├── datagen_v1.py │ │ ├── dataset_v1.py │ │ ├── model_all_final.py │ │ ├── train_all_v1.py │ │ └── train_log.txt ├── models │ ├── .DS_Store │ ├── SAC.py │ ├── model_3d_legacy.py │ ├── model_actor_fir.py │ ├── model_actor_sec.py │ ├── model_aff_fir.py │ ├── model_aff_sec.py │ ├── model_critic_fir.py │ ├── model_critic_sec.py │ ├── pointnet2 │ │ ├── __init__.py │ │ ├── _version.py │ │ ├── config │ │ │ ├── config.yaml │ │ │ ├── model │ │ │ │ ├── msg.yaml │ │ │ │ └── ssg.yaml │ │ │ ├── task │ │ │ │ ├── cls.yaml │ │ │ │ └── semseg.yaml │ │ │ └── task_model │ │ │ │ ├── cls-msg.yaml │ │ │ │ ├── cls-ssg.yaml │ │ │ │ ├── semseg-msg.yaml │ │ │ │ └── semseg-ssg.yaml │ │ ├── data │ │ │ ├── Indoor3DSemSegLoader.py │ │ │ ├── ModelNet40Loader.py │ │ │ ├── __init__.py │ │ │ └── data_utils.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── pointnet2_msg_cls.py │ │ │ ├── pointnet2_msg_sem.py │ │ │ ├── pointnet2_ssg_cls.py │ │ │ └── pointnet2_ssg_sem.py │ │ └── train.py │ └── pointnet2_ops │ │ ├── __init__.py │ │ ├── _ext-src │ │ ├── include │ │ │ ├── ball_query.h │ │ │ ├── cuda_utils.h │ │ │ ├── group_points.h │ │ │ ├── interpolate.h │ │ │ ├── sampling.h │ │ │ └── utils.h │ │ └── src │ │ │ ├── ball_query.cpp │ │ │ ├── ball_query_gpu.cu │ │ │ ├── bindings.cpp │ │ │ ├── group_points.cpp │ │ │ ├── group_points_gpu.cu │ │ │ ├── interpolate.cpp │ │ │ ├── interpolate_gpu.cu │ │ │ ├── sampling.cpp │ │ │ └── sampling_gpu.cu │ │ ├── _version.py │ │ ├── pointnet2_modules.py │ │ └── pointnet2_utils.py ├── requirements.txt ├── robots │ ├── .DS_Store │ ├── franka_description │ │ └── meshes │ │ │ ├── collision │ │ │ ├── finger.stl │ │ │ ├── finger.stl.convex.stl │ │ │ ├── hand.stl │ │ │ ├── hand.stl.convex.stl │ │ │ ├── link0.stl │ │ │ ├── link0.stl.convex.stl │ │ │ ├── link1.stl │ │ │ ├── link1.stl.convex.stl │ │ │ ├── link2.stl │ │ │ ├── link2.stl.convex.stl │ │ │ ├── link3.stl │ │ │ ├── link3.stl.convex.stl │ │ │ ├── link4.stl │ │ │ ├── link4.stl.convex.stl │ │ │ ├── link5.stl │ │ │ ├── link5.stl.convex.stl │ │ │ ├── link6.stl │ │ │ ├── link6.stl.convex.stl │ │ │ ├── link7.stl │ │ │ └── link7.stl.convex.stl │ │ │ └── visual │ │ │ ├── finger.dae │ │ │ ├── hand.dae │ │ │ ├── link0.dae │ │ │ ├── link1.dae │ │ │ ├── link2.dae │ │ │ ├── link3.dae │ │ │ ├── link4.dae │ │ │ ├── link5.dae │ │ │ ├── link6.dae │ │ │ └── link7.dae │ ├── panda.urdf │ ├── panda_gripper.urdf │ ├── panda_robot.py │ └── panda_robot_rl.py ├── sapien-0.8.0.dev0-cp36-cp36m-manylinux2014_x86_64.whl ├── scripts │ ├── .DS_Store │ ├── run_collect_SACVAL_pickup_TRAIN_display.sh │ ├── run_collect_SAC_pickup_TRAIN_display.sh │ ├── run_collect_random_push_TRAIN.sh │ ├── run_eval_push_afterCA.sh │ ├── run_eval_push_beforeCA.sh │ ├── run_train_CA_push.sh │ ├── run_train_actor_push_fir.sh │ ├── run_train_actor_push_sec.sh │ ├── run_train_affordance_push_fir.sh │ ├── run_train_affordance_push_sec.sh │ ├── run_train_critic_push_fir.sh │ └── run_train_critic_push_sec.sh ├── train_actor.py ├── train_affordance.py ├── train_collaborative_adaptation.py ├── train_critic.py └── utils.py ├── images └── teaser.png └── stats 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