├── LICENSE ├── README.md ├── assets ├── .DS_Store ├── font.css ├── main.css ├── method.png ├── paper-thumb.png └── video-thumb.png ├── index.html ├── ravens ├── __init__.py ├── agents │ ├── __init__.py │ ├── conv_mlp.py │ ├── dummy.py │ ├── form2fit.py │ ├── gt_state.py │ ├── gt_state_2_step.py │ ├── nerfporter.py │ ├── real.py │ ├── transporter.py │ └── transporter_6dof.py ├── dataset.py ├── demos.py ├── environments │ ├── __init__.py │ ├── assets │ │ ├── bags │ │ │ ├── bl_sphere_bag_basic_000.mtl │ │ │ ├── bl_sphere_bag_basic_000.obj │ │ │ ├── bl_sphere_bag_basic_001.mtl │ │ │ ├── bl_sphere_bag_basic_001.obj │ │ │ ├── bl_sphere_bag_basic_002.mtl │ │ │ ├── bl_sphere_bag_basic_002.obj │ │ │ ├── bl_sphere_bag_basic_003.mtl │ │ │ ├── bl_sphere_bag_basic_003.obj │ │ │ ├── bl_sphere_bag_basic_004.mtl │ │ │ ├── bl_sphere_bag_basic_004.obj │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.1_numV_257.mtl │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.1_numV_257.obj │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.1_numV_257_top_ring.txt │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.3_numV_289.mtl │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.3_numV_289.obj │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.3_numV_289_top_ring.txt │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.4_numV_321.mtl │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.4_numV_321.obj │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.4_numV_321_top_ring.txt │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.6_numV_353.mtl │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.6_numV_353.obj │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.6_numV_353_top_ring.txt │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.8_numV_385.mtl │ │ │ ├── bl_sphere_bag_rad_1.0_zthresh_0.8_numV_385.obj │ │ │ └── bl_sphere_bag_rad_1.0_zthresh_0.8_numV_385_top_ring.txt │ │ ├── block │ │ │ ├── block.urdf │ │ │ ├── block_for_anchors.urdf │ │ │ └── small.urdf │ │ ├── bowl │ │ │ ├── bowl.urdf │ │ │ ├── cup.obj │ │ │ └── textured-0008192.obj │ │ ├── box │ │ │ └── box-template.urdf │ │ ├── cable │ │ │ └── cable.urdf │ │ ├── cloth │ │ │ ├── bl_cloth_05_cuts.obj │ │ │ ├── bl_cloth_10_cuts.obj │ │ │ ├── bl_cloth_15_cuts.obj │ │ │ ├── bl_cloth_20_cuts.obj │ │ │ ├── bl_cloth_25_cuts.obj │ │ │ ├── cloth.obj │ │ │ └── cloth_z_up.obj │ │ ├── container │ │ │ └── container-template.urdf │ │ ├── corner │ │ │ └── corner-template.urdf │ │ ├── hanging_disks │ │ │ ├── disk.obj │ │ │ ├── disk.urdf │ │ │ └── stand.urdf │ │ ├── hanoi │ │ │ ├── block.urdf │ │ │ ├── disk0.obj │ │ │ ├── disk0.urdf │ │ │ ├── disk1.obj │ │ │ ├── disk1.urdf │ │ │ ├── disk2.obj │ │ │ ├── disk2.urdf │ │ │ ├── disk3.obj │ │ │ ├── disk3.urdf │ │ │ ├── slimdisk.urdf │ │ │ └── stand.urdf │ │ ├── insertion │ │ │ ├── ell.urdf │ │ │ └── fixture.urdf │ │ ├── kitting │ │ │ ├── 00.obj │ │ │ ├── 01.obj │ │ │ ├── 02.obj │ │ │ ├── 03.obj │ │ │ ├── 04.obj │ │ │ ├── 05.obj │ │ │ ├── 06.obj │ │ │ ├── 07.obj │ │ │ ├── 08.obj │ │ │ ├── 09.obj │ │ │ ├── 10.obj │ │ │ ├── 11.obj │ │ │ ├── 12.obj │ │ │ ├── 13.obj │ │ │ ├── 14.obj │ │ │ ├── 15.obj │ │ │ ├── 16.obj │ │ │ ├── 17.obj │ │ │ ├── 18.obj │ │ │ ├── 19.obj │ │ │ ├── kit.urdf │ │ │ ├── kit_sixdof.urdf │ │ │ └── object-template.urdf │ │ ├── line │ │ │ ├── line-template.urdf │ │ │ └── line.obj │ │ ├── pallet │ │ │ ├── pallet.obj │ │ │ └── pallet.urdf │ │ ├── plane │ │ │ ├── checker_blue.png │ │ │ ├── plane.mtl │ │ │ ├── plane.urdf │ │ │ ├── plane100.obj │ │ │ └── textureless_plane.urdf │ │ ├── rectangle │ │ │ ├── rectangle-template-sides-1.urdf │ │ │ ├── rectangle-template-sides-2.urdf │ │ │ ├── rectangle-template-sides-3.urdf │ │ │ └── rectangle-template-sides-4.urdf │ │ ├── square │ │ │ ├── square-template-allsides-blue.urdf │ │ │ ├── square-template-allsides-green.urdf │ │ │ └── square-template.urdf │ │ ├── stacking │ │ │ ├── block.urdf │ │ │ └── stand.urdf │ │ ├── ur5 │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ ├── gripper │ │ │ │ ├── README.md │ │ │ │ ├── robotiq-2f-base.mtl │ │ │ │ ├── robotiq-2f-base.obj │ │ │ │ ├── robotiq-2f-base.stl │ │ │ │ ├── robotiq-2f-coupler.mtl │ │ │ │ ├── robotiq-2f-coupler.obj │ │ │ │ ├── robotiq-2f-coupler.stl │ │ │ │ ├── robotiq-2f-driver.mtl │ │ │ │ ├── robotiq-2f-driver.obj │ │ │ │ ├── robotiq-2f-driver.stl │ │ │ │ ├── robotiq-2f-follower.mtl │ │ │ │ ├── robotiq-2f-follower.obj │ │ │ │ ├── robotiq-2f-follower.stl │ │ │ │ ├── robotiq-2f-pad.stl │ │ │ │ ├── robotiq-2f-spring_link.mtl │ │ │ │ ├── robotiq-2f-spring_link.obj │ │ │ │ ├── robotiq-2f-spring_link.stl │ │ │ │ ├── robotiq_2f_85.urdf │ │ │ │ └── textures │ │ │ │ │ ├── gripper-2f_BaseColor.jpg │ │ │ │ │ ├── gripper-2f_Metallic.jpg │ │ │ │ │ ├── gripper-2f_Normal.jpg │ │ │ │ │ └── gripper-2f_Roughness.jpg │ │ │ ├── license.txt │ │ │ ├── old │ │ │ │ └── visual │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ ├── plane.obj │ │ │ ├── spatula │ │ │ │ ├── base.obj │ │ │ │ └── spatula-base.urdf │ │ │ ├── suction │ │ │ │ ├── base.obj │ │ │ │ ├── head.obj │ │ │ │ ├── mid.obj │ │ │ │ ├── suction-base.urdf │ │ │ │ ├── suction-head.urdf │ │ │ │ └── tip.obj │ │ │ ├── ur5.urdf │ │ │ ├── visual │ │ │ │ ├── base.dae │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.dae │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.dae │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.dae │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.dae │ │ │ │ ├── wrist2.stl │ │ │ │ ├── wrist3.dae │ │ │ │ └── wrist3.stl │ │ │ └── workspace.urdf │ │ └── zone │ │ │ ├── zone-template.urdf │ │ │ ├── zone.obj │ │ │ └── zone.urdf │ ├── environment.py │ └── environment_test.py ├── models │ ├── __init__.py │ ├── attention.py │ ├── conv_mlp.py │ ├── gt_state.py │ ├── matching.py │ ├── mdn_utils.py │ ├── regression.py │ ├── resnet.py │ ├── transport.py │ ├── transport_6dof.py │ ├── transport_ablation.py │ └── transport_goal.py ├── plot.py ├── tasks │ ├── __init__.py │ ├── align_box_corner.py │ ├── assembling_kits.py │ ├── block_insertion.py │ ├── cameras.py │ ├── grippers.py │ ├── hanging_disks.py │ ├── hanging_ring.py │ ├── manipulating_rope.py │ ├── packing_boxes.py │ ├── packing_clothes.py │ ├── packing_ropes.py │ ├── packing_shapes.py │ ├── packing_shoes.py │ ├── palletizing_boxes.py │ ├── place_red_in_green.py │ ├── planners.py │ ├── primitives.py │ ├── stack_block_pyramid.py │ ├── stacking_kits.py │ ├── sweeping_piles.py │ ├── task.py │ ├── tasks_test.py │ └── towers_of_hanoi.py ├── test.py ├── train.py └── utils │ ├── __init__.py │ ├── demo_utils.py │ ├── pybullet_utils.py │ └── utils.py ├── requirements.txt ├── setup.py └── videos ├── .DS_Store ├── block-insertion-sixdof-ood-form2fit-n_demos=100 ├── 000000.mp4 ├── 000001.mp4 ├── 000002.mp4 ├── 000003.mp4 ├── 000004.mp4 ├── 000005.mp4 ├── 000006.mp4 ├── 000007.mp4 ├── 000008.mp4 ├── 000009.mp4 ├── 000010.mp4 └── 000011.mp4 ├── block-insertion-sixdof-ood-nerfporter_6d-n_demos=100 ├── 000000.mp4 ├── 000001.mp4 ├── 000002.mp4 ├── 000003.mp4 ├── 000004.mp4 ├── 000005.mp4 ├── 000006.mp4 ├── 000007.mp4 ├── 000008.mp4 ├── 000009.mp4 ├── 000010.mp4 └── 000011.mp4 ├── block-insertion-sixdof-ood-transporter-n_demos=100 ├── 000000.mp4 ├── 000001.mp4 ├── 000002.mp4 ├── 000003.mp4 ├── 000004.mp4 ├── 000005.mp4 ├── 000006.mp4 ├── 000007.mp4 ├── 000008.mp4 ├── 000009.mp4 ├── 000010.mp4 └── 000011.mp4 ├── hanging-disks-ood-form2fit-n_demos=100 ├── 000000.mp4 ├── 000001.mp4 ├── 000002.mp4 ├── 000003.mp4 ├── 000004.mp4 ├── 000005.mp4 ├── 000006.mp4 ├── 000007.mp4 ├── 000008.mp4 ├── 000009.mp4 ├── 000010.mp4 └── 000011.mp4 ├── hanging-disks-ood-nerfporter_6d-n_demos=100 ├── 000000.mp4 ├── 000001.mp4 ├── 000002.mp4 ├── 000003.mp4 ├── 000004.mp4 ├── 000005.mp4 ├── 000006.mp4 ├── 000007.mp4 ├── 000008.mp4 ├── 000009.mp4 ├── 000010.mp4 └── 000011.mp4 ├── hanging-disks-ood-transporter-n_demos=100 ├── 000000.mp4 ├── 000001.mp4 ├── 000002.mp4 ├── 000003.mp4 ├── 000004.mp4 ├── 000005.mp4 ├── 000006.mp4 ├── 000007.mp4 ├── 000008.mp4 ├── 000009.mp4 ├── 000010.mp4 └── 000011.mp4 ├── place-red-in-green-sixdof-ood-form2fit-n_demos=100 ├── 000000.mp4 ├── 000001.mp4 ├── 000002.mp4 ├── 000003.mp4 ├── 000004.mp4 ├── 000005.mp4 ├── 000006.mp4 ├── 000007.mp4 ├── 000008.mp4 ├── 000009.mp4 ├── 000010.mp4 └── 000011.mp4 ├── place-red-in-green-sixdof-ood-mira-n_demos=100.zip ├── place-red-in-green-sixdof-ood-nerfporter_6d-n_demos=100 ├── .DS_Store ├── 000001.mp4 ├── 000002.mp4 ├── 000003.mp4 ├── 000004.mp4 └── 000005.mp4 ├── place-red-in-green-sixdof-ood-transporter-n_demos=100 ├── 000000.mp4 ├── 000001.mp4 ├── 000002.mp4 ├── 000003.mp4 ├── 000004.mp4 ├── 000005.mp4 ├── 000006.mp4 ├── 000007.mp4 ├── 000008.mp4 ├── 000009.mp4 ├── 000010.mp4 └── 000011.mp4 ├── stacking-kits-ood-form2fit-n_demos=100 ├── 000000.mp4 ├── 000001.mp4 ├── 000002.mp4 ├── 000003.mp4 ├── 000004.mp4 ├── 000005.mp4 ├── 000006.mp4 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