├── .gitignore ├── DATAGEN.md ├── INSTALL.md ├── README.md ├── assets ├── task_new_keystep_ids.json ├── taskvars_instructions_new.json ├── taskvars_instructions_peract.json ├── taskvars_peract.json ├── taskvars_target_label_zrange.json ├── taskvars_test_l2.json ├── taskvars_test_l3.json ├── taskvars_test_l4.json └── taskvars_train.json ├── challenges ├── CHALLENGE_CVPR25.md ├── CONTAINER.md ├── actioner.py ├── client.py ├── robot3dlotus_24.04 │ └── Dockerfile ├── robot_pipeline.yaml ├── run_server.sh └── server.py ├── figures ├── benchmark_overview.jpg └── method_overview.jpg ├── genrobo3d ├── __init__.py ├── configs │ ├── __init__.py │ ├── default.py │ └── rlbench │ │ ├── constants.py │ │ ├── motion_planner_ptv3.yaml │ │ ├── robot_pipeline.yaml │ │ ├── robot_pipeline_gt.yaml │ │ └── simple_policy_ptv3.yaml ├── evaluation │ ├── common.py │ ├── eval_robot_pipeline_server.py │ ├── eval_simple_policy.py │ ├── eval_simple_policy_server.py │ ├── robot_pipeline.py │ └── robot_pipeline_gt.py ├── models │ ├── PointTransformerV3 │ │ ├── model.py │ │ ├── model_ca.py │ │ └── serialization │ │ │ ├── __init__.py │ │ │ ├── default.py │ │ │ ├── hilbert.py │ │ │ └── z_order.py │ ├── __init__.py │ ├── base.py │ ├── motion_planner_ptv3.py │ └── simple_policy_ptv3.py ├── rlbench │ ├── __init__.py │ ├── coord_transforms.py │ ├── environments.py │ └── recorder.py ├── train │ ├── datasets │ │ ├── __init__.py │ │ ├── common.py │ │ ├── loader.py │ │ ├── motion_planner_dataset.py │ │ └── simple_policy_dataset.py │ ├── optim │ │ ├── __init__.py │ │ ├── adamw.py │ │ ├── lookahead.py │ │ ├── misc.py │ │ ├── radam.py │ │ ├── ralamb.py │ │ ├── rangerlars.py │ │ └── sched.py │ ├── train_motion_planner.py │ ├── train_simple_policy.py │ └── utils │ │ ├── __init__.py │ │ ├── distributed.py │ │ ├── logger.py │ │ ├── misc.py │ │ ├── ops.py │ │ ├── save.py │ │ ├── slurm_requeue.py │ │ └── utils.py ├── utils │ ├── action_position_utils.py │ ├── point_cloud.py │ ├── rlbench_keystep_detection.py │ ├── robot_box.py │ └── rotation_transform.py └── vlm_models │ ├── clip_encoder.py │ ├── llm_task_planner.py │ ├── owlv2_detector.py │ ├── sam_segmentor.py │ ├── vlm_configs.py │ ├── vlm_pipeline.py │ └── vlm_utils.py ├── job_scripts ├── eval_3dlotus_policy.sh ├── eval_3dlotus_policy_peract.sh ├── eval_3dlotusplus_policy.sh ├── jz │ ├── eval_3dlotus_policy.sh │ ├── gen_simple_policy_data.sh │ ├── regen_data_microsteps.sh │ └── train_3dlotus_policy.sh ├── train_3dlotus_policy.sh ├── train_3dlotus_policy_peract.sh └── train_3dlotusplus_motion_planner.sh ├── notebooks ├── eval_3dlotus++_policy.ipynb └── eval_3dlotus_policy.ipynb ├── preprocess ├── evaluate_rlbench_microsteps.py ├── gen_action_text_embeds.py ├── gen_instr_text_embeds.py ├── gen_motion_planner_data.py ├── gen_simple_policy_data.py ├── generate_dataset_keysteps.py └── generate_dataset_microsteps.py ├── prompts └── rlbench │ ├── height_range_prompts.json │ ├── in_context_examples.txt │ ├── planner_prompts.txt │ └── 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