├── .gitignore ├── README.md ├── __init__.py ├── assets ├── 10_tasks.csv ├── 10_tasks.json ├── all_tasks.json └── taskvar_instructions.jsonl ├── config ├── default.py ├── plain_unet.yaml └── transformer_unet.yaml ├── core ├── actioner.py └── environments.py ├── dataloaders ├── __init__.py ├── keystep_dataset.py └── loader.py ├── eval_models.py ├── job_scripts ├── eval_tst_split.sh └── train_multitask_bc.sh ├── models ├── __init__.py ├── network_utils.py ├── plain_unet.py └── transformer_unet.py ├── optim ├── __init__.py ├── adamw.py ├── lookahead.py ├── misc.py ├── radam.py ├── ralamb.py ├── rangerlars.py └── sched.py ├── preprocess ├── evaluate_dataset_keysteps.py ├── generate_dataset_keysteps.py ├── generate_dataset_microsteps.py └── generate_instructions.py ├── requirements.txt ├── summarize_tst_results.py ├── summarize_val_results.py ├── train_models.py └── utils ├── __init__.py ├── coord_transforms.py ├── distributed.py ├── keystep_detection.py ├── logger.py ├── misc.py ├── ops.py 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