├── .gitignore ├── LICENSE ├── README.md ├── assets ├── marker_motion.png ├── tactile_dataset.jpg └── teaser.png ├── camera_node_launcher.py ├── data ├── PCA_Transform_GelSight │ ├── pca_mean_matrix.npy │ └── pca_transform_matrix.npy ├── PCA_Transform_McTAC_v1 │ ├── pca_mean_matrix.npy │ └── pca_transform_matrix.npy └── calibration │ └── v6 │ ├── external_camera_to_left_robot_base_transform.json │ ├── external_camera_to_right_robot_base_transform.json │ ├── left_wrist_camera_to_left_robot_tcp_transform.json │ ├── world_to_left_robot_base_transform.json │ └── world_to_right_robot_base_transform.json ├── docs ├── Q&A.md ├── customized_deployment_guide.md ├── data_collection_tips.md ├── franka_setup_instructions.md └── tactile_embedding_guide.md ├── eval.sh ├── eval_real_robot_flexiv.py ├── post_process_data.py ├── reactive_diffusion_policy ├── __init__.py ├── common │ ├── action_utils.py │ ├── checkpoint_util.py │ ├── cv2_util.py │ ├── data_models.py │ ├── ensemble.py │ ├── json_logger.py │ ├── normalize_util.py │ ├── pcd_utils.py │ ├── pose_trajectory_interpolator.py │ ├── precise_sleep.py │ ├── pytorch_util.py │ ├── replay_buffer.py │ ├── ring_buffer.py │ ├── sampler.py │ ├── space_utils.py │ ├── tactile_marker_utils.py │ ├── time_utils.py │ └── visualization_utils.py ├── config │ ├── at │ │ ├── at_peel.yaml │ │ └── at_wipe_lift.yaml │ ├── real_world_env.yaml │ ├── robot │ │ └── charmander.yaml │ ├── task │ │ ├── real_demo_three_realsense_two_gelsight_two_mctac_24fps.yaml │ │ ├── real_franka_env.yaml │ │ ├── real_lift_image_dp_absolute_12fps.yaml │ │ ├── real_lift_image_tactile_emb_at_absolute_24fps.yaml │ │ ├── real_lift_image_tactile_emb_dp_absolute_12fps.yaml │ │ ├── real_lift_image_tactile_emb_ldp_absolute_24fps.yaml │ │ ├── real_lift_image_wrench_at_absolute_24fps.yaml │ │ ├── real_lift_image_wrench_ldp_absolute_24fps.yaml │ │ ├── real_lift_three_realsense_one_mctac_one_gelsight_24fps.yaml │ │ ├── real_peel_image_dp_absolute_12fps.yaml │ │ ├── real_peel_image_gelsight_emb_at_24fps.yaml │ │ ├── real_peel_image_gelsight_emb_dp_absolute_12fps.yaml │ │ ├── real_peel_image_gelsight_emb_ldp_24fps.yaml │ │ ├── real_peel_image_gelsight_img_dp_absolute_12fps.yaml │ │ ├── real_peel_image_mctac_emb_at_24fps.yaml │ │ ├── real_peel_image_mctac_emb_at_ablation_absolute_24fps.yaml │ │ ├── real_peel_image_mctac_emb_ldp_24fps.yaml │ │ ├── real_peel_image_mctac_emb_ldp_ablation_absolute_24fps.yaml │ │ ├── real_peel_image_mctac_emb_ldp_ablation_no_latency_matching_24fps.yaml │ │ ├── real_peel_image_wrench_at_24fps.yaml │ │ ├── real_peel_image_wrench_ldp_24fps.yaml │ │ ├── real_peel_two_realsense_one_gelsight_one_mctac_24fps.yaml │ │ ├── real_robot_env.yaml │ │ ├── real_wipe_image_dp_absolute_12fps.yaml │ │ ├── real_wipe_image_gelsight_emb_at_24fps.yaml │ │ ├── real_wipe_image_gelsight_emb_dp_ablation_ensemble_absolute_12fps.yaml │ │ ├── real_wipe_image_gelsight_emb_dp_ablation_small_chunk_absolute_12fps.yaml │ │ ├── real_wipe_image_gelsight_emb_dp_absolute_12fps.yaml │ │ ├── real_wipe_image_gelsight_emb_ldp_24fps.yaml │ │ ├── real_wipe_image_wrench_at_24fps.yaml │ │ ├── real_wipe_image_wrench_ldp_24fps.yaml │ │ └── real_wipe_two_realsense_one_gelsight_one_mctac_24fps.yaml │ ├── train_at_workspace.yaml │ ├── train_diffusion_unet_real_image_workspace.yaml │ └── train_latent_diffusion_unet_real_image_workspace.yaml ├── dataset │ ├── base_dataset.py │ ├── real_image_tactile_dataset.py │ └── real_image_tactile_latent_diffusion_dataset.py ├── env │ └── real_bimanual │ │ └── real_env.py ├── env_runner │ └── real_runner.py ├── model │ ├── __init__.py │ ├── common │ │ ├── dict_of_tensor_mixin.py │ │ ├── lr_decay.py │ │ ├── lr_scheduler.py │ │ ├── module_attr_mixin.py │ │ ├── normalizer.py │ │ ├── pca_embedding.py │ │ ├── shape_util.py │ │ └── tensor_util.py │ ├── diffusion │ │ ├── conditional_unet1d.py │ │ ├── conv1d_components.py │ │ ├── ema_model.py │ │ ├── mask_generator.py │ │ └── positional_embedding.py │ ├── vae │ │ ├── distributions.py │ │ ├── model.py │ │ ├── utils.py │ │ └── vector_quantize_pytorch │ │ │ ├── residual_vq.py │ │ │ └── vector_quantize_pytorch.py │ └── vision │ │ ├── choice_randomizer.py │ │ ├── crop_randomizer.py │ │ ├── model_getter.py │ │ ├── multi_image_obs_encoder.py │ │ └── timm_obs_encoder.py ├── policy │ ├── base_image_policy.py │ ├── diffusion_unet_image_policy.py │ └── latent_diffusion_unet_image_policy.py ├── real_world │ ├── device_mapping │ │ ├── __init__.py │ │ ├── device_mapping_server.py │ │ └── device_mapping_utils.py │ ├── post_process_utils.py │ ├── publisher │ │ ├── __init__.py │ │ ├── bimanual_robot_publisher.py │ │ ├── gelsight_camera_publisher.py │ │ ├── gelsight_utility.py │ │ ├── lib │ │ │ └── find_marker.so │ │ ├── marker_detection.py │ │ ├── marker_track │ │ │ ├── README.md │ │ │ ├── makefile │ │ │ └── src │ │ │ │ ├── __init__.py │ │ │ │ ├── find_marker.cpp │ │ │ │ ├── tracking_class.cpp │ │ │ │ └── tracking_class.h │ │ ├── mctac_camera_publisher.py │ │ ├── mctac_utility.py │ │ ├── realsense_camera_publisher.py │ │ ├── setting.py │ │ └── usb_camera_publisher.py │ ├── real_inference_util.py │ ├── real_world_transforms.py │ ├── robot │ │ ├── __init__.py │ │ ├── bimanual_flexiv_server.py │ │ ├── franka_server.py │ │ ├── franka_server_deoxys.py │ │ └── single_flexiv_controller.py │ ├── ros_data_converter.py │ ├── simple_camera │ │ ├── __init__.py │ │ ├── simple_realsense_camera.py │ │ └── simple_usb_camera.py │ └── teleoperation │ │ ├── __init__.py │ │ ├── data_recorder.py │ │ └── teleop_server.py ├── scripts │ ├── extract_gelsight_marker_motion.py │ ├── extract_mctac_marker_motion.py │ ├── generate_pca_embedding.py │ └── reencode_videos.py └── workspace │ ├── base_workspace.py │ ├── train_at_workspace.py │ └── train_diffusion_unet_image_workspace.py ├── record_data.py ├── requirements.txt ├── teleop.py ├── tests ├── franka_interpolation_test.py ├── teleop_server_test.py ├── test_camera_res_and_fps.py ├── test_cv2_util.py ├── test_pca_explainality.py ├── test_precise_sleep.py ├── test_replay_buffer.py └── test_ring_buffer_simple.py ├── third_party ├── flexiv_rdk-main │ ├── .clang-format │ ├── .github │ │ ├── ISSUE_TEMPLATE │ │ │ ├── bug_report.md │ │ │ └── feature_request.md │ │ └── workflows │ │ │ └── cmake.yml │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── cmake │ │ ├── FlexivInstallLibrary.cmake │ │ └── flexiv_rdk-config.cmake.in │ ├── doc │ │ ├── Doxyfile.in │ │ └── flexiv_logo.png │ ├── example │ │ ├── CMakeLists.txt │ │ ├── basics1_display_robot_states.cpp │ │ ├── basics2_clear_fault.cpp │ │ ├── basics3_primitive_execution.cpp │ │ ├── basics4_plan_execution.cpp │ │ ├── basics5_zero_force_torque_sensors.cpp │ │ ├── basics6_gripper_control.cpp │ │ ├── basics7_auto_recovery.cpp │ │ ├── intermediate1_realtime_joint_position_control.cpp │ │ ├── intermediate2_realtime_joint_torque_control.cpp │ │ ├── intermediate3_realtime_joint_floating.cpp │ │ ├── intermediate4_realtime_cartesian_pure_motion_control.cpp │ │ ├── intermediate5_realtime_cartesian_motion_force_control.cpp │ │ ├── intermediate6_robot_dynamics.cpp │ │ └── intermediate7_teach_by_demonstration.cpp │ ├── example_py │ │ ├── basics1_display_robot_states.py │ │ ├── basics2_clear_fault.py │ │ ├── basics3_primitive_execution.py │ │ ├── basics4_plan_execution.py │ │ ├── basics5_zero_force_torque_sensors.py │ │ ├── basics6_gripper_control.py │ │ ├── basics7_auto_recovery.py │ │ ├── intermediate1_non_realtime_joint_position_control.py │ │ ├── intermediate2_non_realtime_cartesian_pure_motion_control.py │ │ ├── intermediate3_non_realtime_cartesian_motion_force_control.py │ │ ├── intermediate4_teach_by_demonstration.py │ │ └── utility.py │ ├── include │ │ └── flexiv │ │ │ ├── Data.hpp │ │ │ ├── Exception.hpp │ │ │ ├── Gripper.hpp │ │ │ ├── Log.hpp │ │ │ ├── Mode.hpp │ │ │ ├── Model.hpp │ │ │ ├── Robot.hpp │ │ │ ├── Scheduler.hpp │ │ │ └── Utility.hpp │ ├── resources │ │ ├── flexiv_rizon10_kinematics.urdf │ │ ├── flexiv_rizon4_kinematics.urdf │ │ ├── flexiv_rizon4s_kinematics.urdf │ │ └── meshes │ │ │ ├── rizon10 │ │ │ ├── collision │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ │ └── visual │ │ │ │ ├── link0.dae │ │ │ │ ├── link0.obj │ │ │ │ ├── link1.dae │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.dae │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.dae │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.dae │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.dae │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.dae │ │ │ │ ├── link6.obj │ │ │ │ ├── link7.dae │ │ │ │ └── link7.obj │ │ │ ├── rizon4 │ │ │ ├── collision │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ │ └── visual │ │ │ │ ├── link0.dae │ │ │ │ ├── link0.obj │ │ │ │ ├── link1.dae │ │ │ │ ├── link1.obj │ │ │ │ ├── link2.dae │ │ │ │ ├── link2.obj │ │ │ │ ├── link3.dae │ │ │ │ ├── link3.obj │ │ │ │ ├── link4.dae │ │ │ │ ├── link4.obj │ │ │ │ ├── link5.dae │ │ │ │ ├── link5.obj │ │ │ │ ├── link6.dae │ │ │ │ ├── link6.obj │ │ │ │ ├── link7.dae │ │ │ │ └── link7.obj │ │ │ └── rizon4s │ │ │ ├── collision │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link7.stl │ │ │ └── visual │ │ │ ├── link0.dae │ │ │ ├── link0.obj │ │ │ ├── link1.dae │ │ │ ├── link1.obj │ │ │ ├── link2.dae │ │ │ ├── link2.obj │ │ │ ├── link3.dae │ │ │ ├── link3.obj │ │ │ ├── link4.dae │ │ │ ├── link4.obj │ │ │ ├── link5.dae │ │ │ ├── link5.obj │ │ │ ├── link6.dae │ │ │ ├── link6.obj │ │ │ ├── link7.dae │ │ │ └── link7.obj │ ├── test │ │ ├── CMakeLists.txt │ │ ├── test_dynamics_engine.cpp │ │ ├── test_dynamics_with_tool.cpp │ │ ├── test_endurance.cpp │ │ ├── test_log.cpp │ │ ├── test_loop_latency.cpp │ │ ├── test_scheduler.cpp │ │ └── test_timeliness_monitor.cpp │ └── thirdparty │ │ └── eigen3 │ │ ├── COPYING.MPL2 │ │ ├── Eigen │ │ ├── Cholesky │ │ ├── CholmodSupport │ │ ├── Core │ │ ├── Dense │ │ ├── Eigen │ │ ├── Eigenvalues │ │ ├── Geometry │ │ ├── Householder │ │ ├── IterativeLinearSolvers │ │ ├── Jacobi │ │ ├── LU │ │ ├── MetisSupport │ │ ├── OrderingMethods │ │ ├── PaStiXSupport │ │ ├── PardisoSupport │ │ ├── QR │ │ ├── QtAlignedMalloc │ │ ├── SPQRSupport │ │ ├── SVD │ │ ├── Sparse │ │ ├── SparseCholesky │ │ ├── SparseCore │ │ ├── SparseLU │ │ ├── SparseQR │ │ ├── StdDeque │ │ ├── StdList │ │ ├── StdVector │ │ ├── SuperLUSupport │ │ ├── UmfPackSupport │ │ └── src │ │ │ ├── Cholesky │ │ │ ├── LDLT.h │ │ │ ├── LLT.h │ │ │ └── LLT_LAPACKE.h │ │ │ ├── CholmodSupport │ │ │ └── CholmodSupport.h │ │ │ ├── Core │ │ │ ├── Array.h │ │ │ ├── ArrayBase.h │ │ │ ├── ArrayWrapper.h │ │ │ ├── Assign.h │ │ │ ├── AssignEvaluator.h │ │ │ ├── Assign_MKL.h │ │ │ ├── BandMatrix.h │ │ │ ├── Block.h │ │ │ ├── BooleanRedux.h │ │ │ ├── CommaInitializer.h │ │ │ ├── ConditionEstimator.h │ │ │ ├── CoreEvaluators.h │ │ │ ├── CoreIterators.h │ │ │ ├── CwiseBinaryOp.h │ │ │ ├── CwiseNullaryOp.h │ │ │ ├── CwiseTernaryOp.h │ │ │ ├── CwiseUnaryOp.h │ │ │ ├── CwiseUnaryView.h │ │ │ ├── DenseBase.h │ │ │ ├── DenseCoeffsBase.h │ │ │ ├── DenseStorage.h │ │ │ ├── Diagonal.h │ │ │ ├── DiagonalMatrix.h │ │ │ ├── DiagonalProduct.h │ │ │ ├── Dot.h │ │ │ ├── EigenBase.h │ │ │ ├── ForceAlignedAccess.h │ │ │ ├── Fuzzy.h │ │ │ ├── GeneralProduct.h │ │ │ ├── GenericPacketMath.h │ │ │ ├── GlobalFunctions.h │ │ │ ├── IO.h │ │ │ ├── Inverse.h │ │ │ ├── Map.h │ │ │ ├── MapBase.h │ │ │ ├── MathFunctions.h │ │ │ ├── MathFunctionsImpl.h │ │ │ ├── Matrix.h │ │ │ ├── MatrixBase.h │ │ │ ├── NestByValue.h │ │ │ ├── NoAlias.h │ │ │ ├── NumTraits.h │ │ │ ├── PermutationMatrix.h │ │ │ ├── PlainObjectBase.h │ │ │ ├── Product.h │ │ │ ├── ProductEvaluators.h │ │ │ ├── Random.h │ │ │ ├── Redux.h │ │ │ ├── Ref.h │ │ │ ├── Replicate.h │ │ │ ├── ReturnByValue.h │ │ │ ├── Reverse.h │ │ │ ├── Select.h │ │ │ ├── SelfAdjointView.h │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ ├── Solve.h │ │ │ ├── SolveTriangular.h │ │ │ ├── SolverBase.h │ │ │ ├── StableNorm.h │ │ │ ├── Stride.h │ │ │ ├── Swap.h │ │ │ ├── Transpose.h │ │ │ ├── Transpositions.h │ │ │ ├── TriangularMatrix.h │ │ │ ├── VectorBlock.h │ │ │ ├── VectorwiseOp.h │ │ │ ├── Visitor.h │ │ │ ├── arch │ │ │ │ ├── AVX │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ ├── AVX512 │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── AltiVec │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── CUDA │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── Half.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ ├── PacketMathHalf.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ ├── Default │ │ │ │ │ ├── ConjHelper.h │ │ │ │ │ └── Settings.h │ │ │ │ ├── NEON │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── SSE │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ └── ZVector │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ ├── functors │ │ │ │ ├── AssignmentFunctors.h │ │ │ │ ├── BinaryFunctors.h │ │ │ │ ├── NullaryFunctors.h │ │ │ │ ├── StlFunctors.h │ │ │ │ ├── TernaryFunctors.h │ │ │ │ └── UnaryFunctors.h │ │ │ ├── products │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ │ ├── Parallelizer.h │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ │ └── TriangularSolverVector.h │ │ │ └── util │ │ │ │ ├── BlasUtil.h │ │ │ │ ├── Constants.h │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ ├── MKL_support.h │ │ │ │ ├── Macros.h │ │ │ │ ├── Memory.h │ │ │ │ ├── Meta.h │ │ │ │ ├── NonMPL2.h │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ ├── StaticAssert.h │ │ │ │ └── XprHelper.h │ │ │ ├── Eigenvalues │ │ │ ├── ComplexEigenSolver.h │ │ │ ├── ComplexSchur.h │ │ │ ├── ComplexSchur_LAPACKE.h │ │ │ ├── EigenSolver.h │ │ │ ├── GeneralizedEigenSolver.h │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ ├── HessenbergDecomposition.h │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ ├── RealQZ.h │ │ │ ├── RealSchur.h │ │ │ ├── RealSchur_LAPACKE.h │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ │ └── Tridiagonalization.h │ │ │ ├── Geometry │ │ │ ├── AlignedBox.h │ │ │ ├── AngleAxis.h │ │ │ ├── EulerAngles.h │ │ │ ├── Homogeneous.h │ │ │ ├── Hyperplane.h │ │ │ ├── OrthoMethods.h │ │ │ ├── ParametrizedLine.h │ │ │ ├── Quaternion.h │ │ │ ├── Rotation2D.h │ │ │ ├── RotationBase.h │ │ │ ├── Scaling.h │ │ │ ├── Transform.h │ │ │ ├── Translation.h │ │ │ ├── Umeyama.h │ │ │ └── arch │ │ │ │ └── Geometry_SSE.h │ │ │ ├── Householder │ │ │ ├── BlockHouseholder.h │ │ │ ├── Householder.h │ │ │ └── HouseholderSequence.h │ │ │ ├── IterativeLinearSolvers │ │ │ ├── BasicPreconditioners.h │ │ │ ├── BiCGSTAB.h │ │ │ ├── ConjugateGradient.h │ │ │ ├── IncompleteCholesky.h │ │ │ ├── IncompleteLUT.h │ │ │ ├── IterativeSolverBase.h │ │ │ ├── LeastSquareConjugateGradient.h │ │ │ └── SolveWithGuess.h │ │ │ ├── Jacobi │ │ │ └── Jacobi.h │ │ │ ├── LU │ │ │ ├── Determinant.h │ │ │ ├── FullPivLU.h │ │ │ ├── InverseImpl.h │ │ │ ├── PartialPivLU.h │ │ │ ├── PartialPivLU_LAPACKE.h │ │ │ └── arch │ │ │ │ └── Inverse_SSE.h │ │ │ ├── MetisSupport │ │ │ └── MetisSupport.h │ │ │ ├── OrderingMethods │ │ │ ├── Amd.h │ │ │ ├── Eigen_Colamd.h │ │ │ └── Ordering.h │ │ │ ├── PaStiXSupport │ │ │ └── PaStiXSupport.h │ │ │ ├── PardisoSupport │ │ │ └── PardisoSupport.h │ │ │ ├── QR │ │ │ ├── ColPivHouseholderQR.h │ │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ │ ├── CompleteOrthogonalDecomposition.h │ │ │ ├── FullPivHouseholderQR.h │ │ │ ├── HouseholderQR.h │ │ │ └── HouseholderQR_LAPACKE.h │ │ │ ├── SPQRSupport │ │ │ └── SuiteSparseQRSupport.h │ │ │ ├── SVD │ │ │ ├── BDCSVD.h │ │ │ ├── JacobiSVD.h │ │ │ ├── JacobiSVD_LAPACKE.h │ │ │ ├── SVDBase.h │ │ │ └── UpperBidiagonalization.h │ │ │ ├── SparseCholesky │ │ │ ├── SimplicialCholesky.h │ │ │ └── SimplicialCholesky_impl.h │ │ │ ├── SparseCore │ │ │ ├── AmbiVector.h │ │ │ ├── CompressedStorage.h │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ ├── MappedSparseMatrix.h │ │ │ ├── SparseAssign.h │ │ │ ├── SparseBlock.h │ │ │ ├── SparseColEtree.h │ │ │ ├── SparseCompressedBase.h │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ ├── SparseDenseProduct.h │ │ │ ├── SparseDiagonalProduct.h │ │ │ ├── SparseDot.h │ │ │ ├── SparseFuzzy.h │ │ │ ├── SparseMap.h │ │ │ ├── SparseMatrix.h │ │ │ ├── SparseMatrixBase.h │ │ │ ├── SparsePermutation.h │ │ │ ├── SparseProduct.h │ │ │ ├── SparseRedux.h │ │ │ ├── SparseRef.h │ │ │ ├── SparseSelfAdjointView.h │ │ │ ├── SparseSolverBase.h │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ ├── SparseTranspose.h │ │ │ ├── SparseTriangularView.h │ │ │ ├── SparseUtil.h │ │ │ ├── SparseVector.h │ │ │ ├── SparseView.h │ │ │ └── TriangularSolver.h │ │ │ ├── SparseLU │ │ │ ├── SparseLU.h │ │ │ ├── SparseLUImpl.h │ │ │ ├── SparseLU_Memory.h │ │ │ ├── SparseLU_Structs.h │ │ │ ├── SparseLU_SupernodalMatrix.h │ │ │ ├── SparseLU_Utils.h │ │ │ ├── SparseLU_column_bmod.h │ │ │ ├── SparseLU_column_dfs.h │ │ │ ├── SparseLU_copy_to_ucol.h │ │ │ ├── SparseLU_gemm_kernel.h │ │ │ ├── SparseLU_heap_relax_snode.h │ │ │ ├── SparseLU_kernel_bmod.h │ │ │ ├── SparseLU_panel_bmod.h │ │ │ ├── SparseLU_panel_dfs.h │ │ │ ├── SparseLU_pivotL.h │ │ │ ├── SparseLU_pruneL.h │ │ │ └── SparseLU_relax_snode.h │ │ │ ├── SparseQR │ │ │ └── SparseQR.h │ │ │ ├── StlSupport │ │ │ ├── StdDeque.h │ │ │ ├── StdList.h │ │ │ ├── StdVector.h │ │ │ └── details.h │ │ │ ├── SuperLUSupport │ │ │ └── SuperLUSupport.h │ │ │ ├── UmfPackSupport │ │ │ └── UmfPackSupport.h │ │ │ ├── misc │ │ │ ├── Image.h │ │ │ ├── Kernel.h │ │ │ ├── RealSvd2x2.h │ │ │ ├── blas.h │ │ │ ├── lapack.h │ │ │ ├── lapacke.h │ │ │ └── lapacke_mangling.h │ │ │ └── plugins │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ ├── BlockMethods.h │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ └── MatrixCwiseUnaryOps.h │ │ ├── README.md │ │ ├── signature_of_eigen3_matrix_library │ │ └── unsupported │ │ └── Eigen │ │ ├── AdolcForward │ │ ├── AlignedVector3 │ │ ├── ArpackSupport │ │ ├── AutoDiff │ │ ├── BVH │ │ ├── CXX11 │ │ ├── Tensor │ │ ├── TensorSymmetry │ │ ├── ThreadPool │ │ └── src │ │ │ ├── Tensor │ │ │ ├── Tensor.h │ │ │ ├── TensorArgMax.h │ │ │ ├── TensorAssign.h │ │ │ ├── TensorBase.h │ │ │ ├── TensorBroadcasting.h │ │ │ ├── TensorChipping.h │ │ │ ├── TensorConcatenation.h │ │ │ ├── TensorContraction.h │ │ │ ├── TensorContractionBlocking.h │ │ │ ├── TensorContractionCuda.h │ │ │ ├── TensorContractionMapper.h │ │ │ ├── TensorContractionThreadPool.h │ │ │ ├── TensorConversion.h │ │ │ ├── TensorConvolution.h │ │ │ ├── TensorCostModel.h │ │ │ ├── TensorCustomOp.h │ │ │ ├── TensorDevice.h │ │ │ ├── TensorDeviceCuda.h │ │ │ ├── TensorDeviceDefault.h │ │ │ ├── TensorDeviceSycl.h │ │ │ ├── TensorDeviceThreadPool.h │ │ │ ├── TensorDimensionList.h │ │ │ ├── TensorDimensions.h │ │ │ ├── TensorEvalTo.h │ │ │ ├── TensorEvaluator.h │ │ │ ├── TensorExecutor.h │ │ │ ├── TensorExpr.h │ │ │ ├── TensorFFT.h │ │ │ ├── TensorFixedSize.h │ │ │ ├── TensorForcedEval.h │ │ │ ├── TensorForwardDeclarations.h │ │ │ ├── TensorFunctors.h │ │ │ ├── TensorGenerator.h │ │ │ ├── TensorGlobalFunctions.h │ │ │ ├── TensorIO.h │ │ │ ├── TensorImagePatch.h │ │ │ ├── TensorIndexList.h │ │ │ ├── TensorInflation.h │ │ │ ├── TensorInitializer.h │ │ │ ├── TensorIntDiv.h │ │ │ ├── TensorLayoutSwap.h │ │ │ ├── TensorMacros.h │ │ │ ├── TensorMap.h │ │ │ ├── TensorMeta.h │ │ │ ├── TensorMorphing.h │ │ │ ├── TensorPadding.h │ │ │ ├── TensorPatch.h │ │ │ ├── TensorRandom.h │ │ │ ├── TensorReduction.h │ │ │ ├── TensorReductionCuda.h │ │ │ ├── TensorReductionSycl.h │ │ │ ├── TensorRef.h │ │ │ ├── TensorReverse.h │ │ │ ├── TensorScan.h │ │ │ ├── TensorShuffling.h │ │ │ ├── TensorStorage.h │ │ │ ├── TensorStriding.h │ │ │ ├── TensorSycl.h │ │ │ ├── TensorSyclConvertToDeviceExpression.h │ │ │ ├── TensorSyclExprConstructor.h │ │ │ ├── TensorSyclExtractAccessor.h │ │ │ ├── TensorSyclExtractFunctors.h │ │ │ ├── TensorSyclLeafCount.h │ │ │ ├── TensorSyclPlaceHolderExpr.h │ │ │ ├── TensorSyclRun.h │ │ │ ├── TensorSyclTuple.h │ │ │ ├── TensorTraits.h │ │ │ ├── TensorUInt128.h │ │ │ └── TensorVolumePatch.h │ │ │ ├── TensorSymmetry │ │ │ ├── DynamicSymmetry.h │ │ │ ├── StaticSymmetry.h │ │ │ ├── Symmetry.h │ │ │ └── util │ │ │ │ └── TemplateGroupTheory.h │ │ │ ├── ThreadPool │ │ │ ├── EventCount.h │ │ │ ├── NonBlockingThreadPool.h │ │ │ ├── RunQueue.h │ │ │ ├── SimpleThreadPool.h │ │ │ ├── ThreadEnvironment.h │ │ │ ├── ThreadLocal.h │ │ │ ├── ThreadPoolInterface.h │ │ │ └── ThreadYield.h │ │ │ └── util │ │ │ ├── CXX11Meta.h │ │ │ ├── CXX11Workarounds.h │ │ │ ├── EmulateArray.h │ │ │ ├── EmulateCXX11Meta.h │ │ │ └── MaxSizeVector.h │ │ ├── EulerAngles │ │ ├── FFT │ │ ├── IterativeSolvers │ │ ├── KroneckerProduct │ │ ├── LevenbergMarquardt │ │ ├── MPRealSupport │ │ ├── MatrixFunctions │ │ ├── MoreVectorization │ │ ├── NonLinearOptimization │ │ ├── NumericalDiff │ │ ├── OpenGLSupport │ │ ├── Polynomials │ │ ├── Skyline │ │ ├── SparseExtra │ │ ├── SpecialFunctions │ │ ├── Splines │ │ └── src │ │ ├── AutoDiff │ │ ├── AutoDiffJacobian.h │ │ ├── AutoDiffScalar.h │ │ └── AutoDiffVector.h │ │ ├── BVH │ │ ├── BVAlgorithms.h │ │ └── KdBVH.h │ │ ├── Eigenvalues │ │ └── ArpackSelfAdjointEigenSolver.h │ │ ├── EulerAngles │ │ ├── EulerAngles.h │ │ └── EulerSystem.h │ │ ├── FFT │ │ ├── ei_fftw_impl.h │ │ └── ei_kissfft_impl.h │ │ ├── IterativeSolvers │ │ ├── ConstrainedConjGrad.h │ │ ├── DGMRES.h │ │ ├── GMRES.h │ │ ├── IncompleteLU.h │ │ ├── IterationController.h │ │ ├── MINRES.h │ │ └── Scaling.h │ │ ├── KroneckerProduct │ │ └── KroneckerTensorProduct.h │ │ ├── LevenbergMarquardt │ │ ├── LMcovar.h │ │ ├── LMonestep.h │ │ ├── LMpar.h │ │ ├── LMqrsolv.h │ │ └── LevenbergMarquardt.h │ │ ├── MatrixFunctions │ │ ├── MatrixExponential.h │ │ ├── MatrixFunction.h │ │ ├── MatrixLogarithm.h │ │ ├── MatrixPower.h │ │ ├── MatrixSquareRoot.h │ │ └── StemFunction.h │ │ ├── MoreVectorization │ │ └── MathFunctions.h │ │ ├── NonLinearOptimization │ │ ├── HybridNonLinearSolver.h │ │ ├── LevenbergMarquardt.h │ │ ├── chkder.h │ │ ├── covar.h │ │ ├── dogleg.h │ │ ├── fdjac1.h │ │ ├── lmpar.h │ │ ├── qrsolv.h │ │ ├── r1mpyq.h │ │ ├── r1updt.h │ │ └── rwupdt.h │ │ ├── NumericalDiff │ │ └── NumericalDiff.h │ │ ├── Polynomials │ │ ├── Companion.h │ │ ├── PolynomialSolver.h │ │ └── PolynomialUtils.h │ │ ├── Skyline │ │ ├── SkylineInplaceLU.h │ │ ├── SkylineMatrix.h │ │ ├── SkylineMatrixBase.h │ │ ├── SkylineProduct.h │ │ ├── SkylineStorage.h │ │ └── SkylineUtil.h │ │ ├── SparseExtra │ │ ├── BlockOfDynamicSparseMatrix.h │ │ ├── BlockSparseMatrix.h │ │ ├── DynamicSparseMatrix.h │ │ ├── MarketIO.h │ │ ├── MatrixMarketIterator.h │ │ └── RandomSetter.h │ │ ├── SpecialFunctions │ │ ├── SpecialFunctionsArrayAPI.h │ │ ├── SpecialFunctionsFunctors.h │ │ ├── SpecialFunctionsHalf.h │ │ ├── SpecialFunctionsImpl.h │ │ ├── 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