├── .gitignore ├── LICENSE ├── README.md ├── configs ├── binary_model.yaml ├── data │ ├── circle_dirs.yaml │ ├── dinner_dirs.yaml │ ├── line_dirs.yaml │ ├── test_tower_dirs.yaml │ └── tower_dirs.yaml ├── object_selection_network.yaml ├── structformer.yaml ├── structformer_no_encoder.yaml └── structformer_no_structure.yaml ├── doc └── rearrange_mugs.gif ├── pyproject.toml ├── requirements.txt ├── scripts └── run_full_pipeline.py ├── setup.cfg ├── setup.py └── src └── structformer ├── __init__.py ├── data ├── __init__.py ├── binary_dataset.py ├── object_set_refer_dataset.py ├── sequence_dataset.py └── tokenizer.py ├── evaluation ├── __init__.py ├── inference.py ├── test_binary_model.py ├── test_object_selection_network.py ├── test_structformer.py ├── test_structformer_no_encoder.py └── test_structformer_no_structure.py ├── models ├── __init__.py ├── object_selection_network.py ├── point_transformer.py └── pose_generation_network.py ├── training ├── __init__.py ├── train_binary_model.py ├── train_object_selection_network.py ├── train_structformer.py ├── train_structformer_no_encoder.py └── train_structformer_no_structure.py └── utils ├── __init__.py ├── brain2 ├── __init__.py ├── camera.py ├── image.py └── pose.py ├── pointnet.py ├── rearrangement.py ├── rotation_continuity.py └── transformations.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/README.md -------------------------------------------------------------------------------- /configs/binary_model.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/configs/binary_model.yaml -------------------------------------------------------------------------------- /configs/data/circle_dirs.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/configs/data/circle_dirs.yaml -------------------------------------------------------------------------------- /configs/data/dinner_dirs.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/configs/data/dinner_dirs.yaml -------------------------------------------------------------------------------- /configs/data/line_dirs.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/configs/data/line_dirs.yaml -------------------------------------------------------------------------------- /configs/data/test_tower_dirs.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/configs/data/test_tower_dirs.yaml -------------------------------------------------------------------------------- /configs/data/tower_dirs.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/configs/data/tower_dirs.yaml -------------------------------------------------------------------------------- /configs/object_selection_network.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/configs/object_selection_network.yaml -------------------------------------------------------------------------------- /configs/structformer.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/configs/structformer.yaml -------------------------------------------------------------------------------- /configs/structformer_no_encoder.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/configs/structformer_no_encoder.yaml -------------------------------------------------------------------------------- /configs/structformer_no_structure.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/configs/structformer_no_structure.yaml -------------------------------------------------------------------------------- /doc/rearrange_mugs.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/doc/rearrange_mugs.gif -------------------------------------------------------------------------------- /pyproject.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/pyproject.toml -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/requirements.txt -------------------------------------------------------------------------------- /scripts/run_full_pipeline.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/scripts/run_full_pipeline.py -------------------------------------------------------------------------------- /setup.cfg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/setup.cfg -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/setup.py -------------------------------------------------------------------------------- /src/structformer/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/structformer/data/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/structformer/data/binary_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/data/binary_dataset.py -------------------------------------------------------------------------------- /src/structformer/data/object_set_refer_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/data/object_set_refer_dataset.py -------------------------------------------------------------------------------- /src/structformer/data/sequence_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/data/sequence_dataset.py -------------------------------------------------------------------------------- /src/structformer/data/tokenizer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/data/tokenizer.py -------------------------------------------------------------------------------- /src/structformer/evaluation/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/structformer/evaluation/inference.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/evaluation/inference.py -------------------------------------------------------------------------------- /src/structformer/evaluation/test_binary_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/evaluation/test_binary_model.py -------------------------------------------------------------------------------- /src/structformer/evaluation/test_object_selection_network.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/evaluation/test_object_selection_network.py -------------------------------------------------------------------------------- /src/structformer/evaluation/test_structformer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/evaluation/test_structformer.py -------------------------------------------------------------------------------- /src/structformer/evaluation/test_structformer_no_encoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/evaluation/test_structformer_no_encoder.py -------------------------------------------------------------------------------- /src/structformer/evaluation/test_structformer_no_structure.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/evaluation/test_structformer_no_structure.py -------------------------------------------------------------------------------- /src/structformer/models/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/structformer/models/object_selection_network.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/models/object_selection_network.py -------------------------------------------------------------------------------- /src/structformer/models/point_transformer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/models/point_transformer.py -------------------------------------------------------------------------------- /src/structformer/models/pose_generation_network.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/models/pose_generation_network.py -------------------------------------------------------------------------------- /src/structformer/training/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/structformer/training/train_binary_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/training/train_binary_model.py -------------------------------------------------------------------------------- /src/structformer/training/train_object_selection_network.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/training/train_object_selection_network.py -------------------------------------------------------------------------------- /src/structformer/training/train_structformer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/training/train_structformer.py -------------------------------------------------------------------------------- /src/structformer/training/train_structformer_no_encoder.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/training/train_structformer_no_encoder.py -------------------------------------------------------------------------------- /src/structformer/training/train_structformer_no_structure.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/training/train_structformer_no_structure.py -------------------------------------------------------------------------------- /src/structformer/utils/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/structformer/utils/brain2/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/structformer/utils/brain2/camera.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/utils/brain2/camera.py -------------------------------------------------------------------------------- /src/structformer/utils/brain2/image.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/utils/brain2/image.py -------------------------------------------------------------------------------- /src/structformer/utils/brain2/pose.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/utils/brain2/pose.py -------------------------------------------------------------------------------- /src/structformer/utils/pointnet.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/utils/pointnet.py -------------------------------------------------------------------------------- /src/structformer/utils/rearrangement.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/utils/rearrangement.py -------------------------------------------------------------------------------- /src/structformer/utils/rotation_continuity.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/utils/rotation_continuity.py -------------------------------------------------------------------------------- /src/structformer/utils/transformations.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/wliu88/StructFormer/HEAD/src/structformer/utils/transformations.py --------------------------------------------------------------------------------