├── LICENSE ├── Readme.md ├── config ├── __pycache__ │ └── locomotion.cpython-38.pyc └── locomotion.py ├── diffuser ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ └── __init__.cpython-39.pyc ├── datasets │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── buffer.cpython-37.pyc │ │ ├── buffer.cpython-38.pyc │ │ ├── d4rl.cpython-37.pyc │ │ ├── d4rl.cpython-38.pyc │ │ ├── normalization.cpython-37.pyc │ │ ├── normalization.cpython-38.pyc │ │ ├── preprocessing.cpython-37.pyc │ │ ├── preprocessing.cpython-38.pyc │ │ ├── sequence.cpython-37.pyc │ │ └── sequence.cpython-38.pyc │ ├── buffer.py │ ├── d4rl.py │ ├── normalization.py │ ├── preprocessing.py │ └── sequence.py ├── models │ ├── GPT2.py │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── diffusion.cpython-37.pyc │ │ ├── diffusion.cpython-38.pyc │ │ ├── helpers.cpython-37.pyc │ │ ├── helpers.cpython-38.pyc │ │ ├── temporal.cpython-37.pyc │ │ └── temporal.cpython-38.pyc │ ├── diffusion.py │ ├── helpers.py │ └── temporal.py └── utils │ ├── __init__.py │ ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── __init__.cpython-38.pyc │ ├── __init__.cpython-39.pyc │ ├── arrays.cpython-37.pyc │ ├── arrays.cpython-38.pyc │ ├── cloud.cpython-37.pyc │ ├── cloud.cpython-38.pyc │ ├── colab.cpython-37.pyc │ ├── colab.cpython-38.pyc │ ├── config.cpython-37.pyc │ ├── config.cpython-38.pyc │ ├── git_utils.cpython-37.pyc │ ├── git_utils.cpython-38.pyc │ ├── logger.cpython-37.pyc │ ├── logger.cpython-38.pyc │ ├── progress.cpython-37.pyc │ ├── progress.cpython-38.pyc │ ├── rendering.cpython-37.pyc │ ├── rendering.cpython-38.pyc │ ├── serialization.cpython-37.pyc │ ├── serialization.cpython-38.pyc │ ├── serialization.cpython-39.pyc │ ├── setup.cpython-37.pyc │ ├── setup.cpython-38.pyc │ ├── timer.cpython-37.pyc │ ├── timer.cpython-38.pyc │ ├── training.cpython-37.pyc │ ├── training.cpython-38.pyc │ ├── video.cpython-37.pyc │ └── video.cpython-38.pyc │ ├── arrays.py │ ├── cloud.py │ ├── colab.py │ ├── config.py │ ├── git_utils.py │ ├── iql.py │ ├── logger.py │ ├── progress.py │ ├── pybullet_utils.py │ ├── rendering.py │ ├── serialization.py │ ├── setup.py │ ├── timer.py │ ├── training.py │ ├── transformations.py │ └── video.py ├── environment.yml ├── metaworld_prompts ├── assembly-v2_prompt.npy ├── basketball-v2_prompt.npy ├── bin-picking-v2_prompt.npy ├── box-close-v2_prompt.npy ├── button-press-topdown-v2_prompt.npy ├── button-press-topdown-wall-v2_prompt.npy ├── button-press-v2_prompt.npy ├── button-press-wall-v2_prompt.npy ├── coffee-button-v2_prompt.npy ├── coffee-pull-v2_prompt.npy ├── coffee-push-v2_prompt.npy ├── dial-turn-v2_prompt.npy ├── disassemble-v2_prompt.npy ├── door-close-v2_prompt.npy ├── door-lock-v2_prompt.npy ├── door-open-v2_prompt.npy ├── door-unlock-v2_prompt.npy ├── drawer-close-v2_prompt.npy ├── drawer-open-v2_prompt.npy ├── faucet-close-v2_prompt.npy ├── faucet-open-v2_prompt.npy ├── hammer-v2_prompt.npy ├── hand-insert-v2_prompt.npy ├── handle-press-side-v2_prompt.npy ├── handle-press-v2_prompt.npy ├── handle-pull-side-v2_prompt.npy ├── handle-pull-v2_prompt.npy ├── lever-pull-v2_prompt.npy ├── peg-insert-side-v2_prompt.npy ├── peg-unplug-side-v2_prompt.npy ├── pick-out-of-hole-v2_prompt.npy ├── pick-place-v2_prompt.npy ├── pick-place-wall-v2_prompt.npy ├── plate-slide-back-side-v2_prompt.npy ├── plate-slide-back-v2_prompt.npy ├── plate-slide-side-v2_prompt.npy ├── plate-slide-v2_prompt.npy ├── push-back-v2_prompt.npy ├── push-v2_prompt.npy ├── push-wall-v2_prompt.npy ├── reach-v2_prompt.npy ├── reach-wall-v2_prompt.npy ├── shelf-place-v2_prompt.npy ├── soccer-v2_prompt.npy ├── stick-pull-v2_prompt.npy ├── stick-push-v2_prompt.npy ├── sweep-into-v2_prompt.npy ├── sweep-v2_prompt.npy ├── window-close-v2_prompt.npy └── window-open-v2_prompt.npy ├── models.jpg └── scripts ├── 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