├── README.md ├── assets ├── architecture.png ├── method.jpeg └── teaser.png ├── requirements.txt ├── script ├── auto_record_thread.sh ├── compress_data.py ├── copy_data.sh ├── create_command.py ├── encode_instruction.py ├── instruction_segmentation.py ├── merge_video_audio.py ├── overlay_annotations.py ├── process_data.sh ├── prune_data.py ├── real_time_whisper.py ├── record_audio.py ├── rename_files.py ├── transcribe.py └── transfer_ckpt.sh ├── setup.py └── src ├── CMakeLists.txt ├── act ├── .gitignore ├── assets │ ├── bimanual_viperx_ee_insertion.xml │ ├── bimanual_viperx_ee_transfer_cube.xml │ ├── bimanual_viperx_ee_transfer_tea_bag.xml │ ├── bimanual_viperx_insertion.xml │ ├── bimanual_viperx_transfer_cube.xml │ ├── bimanual_viperx_transfer_tea_bag.xml │ ├── mug.obj │ ├── scene.xml │ ├── tabletop.stl │ ├── test.xml │ ├── vx300s_10_custom_finger_left.stl │ ├── vx300s_10_custom_finger_right.stl │ ├── vx300s_10_gripper_finger.stl │ ├── vx300s_11_ar_tag.stl │ ├── vx300s_1_base.stl │ ├── vx300s_2_shoulder.stl │ ├── vx300s_3_upper_arm.stl │ ├── vx300s_4_upper_forearm.stl │ ├── vx300s_5_lower_forearm.stl │ ├── vx300s_6_wrist.stl │ ├── vx300s_7_gripper.stl │ ├── vx300s_8_gripper_prop.stl │ ├── vx300s_9_gripper_bar.stl │ ├── vx300s_dependencies.xml │ ├── vx300s_left.xml │ └── vx300s_right.xml ├── constants.py ├── detr │ ├── LICENSE │ ├── README.md │ ├── main.py │ ├── models │ │ ├── __init__.py │ │ ├── backbone.py │ │ ├── detr_vae.py │ │ ├── efficientnet.py │ │ ├── position_encoding.py │ │ ├── resnet.py │ │ └── transformer.py │ ├── setup.py │ └── util │ │ ├── __init__.py │ │ ├── box_ops.py │ │ ├── misc.py │ │ └── plot_utils.py ├── ee_sim_env.py ├── imitate_episodes.py ├── policy.py ├── record_sim_episodes.py ├── scripted_policy.py ├── sim_env.py ├── utils.py └── visualize_episodes.py ├── aloha_pro ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── aloha_scripts │ ├── audio_utils.py │ ├── constants.py │ ├── one_side_teleop.py │ ├── real_env.py │ ├── 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