├── .gitignore ├── .gitmodules ├── LICENSE ├── PyriteConfig └── tasks │ └── common │ └── common_type_conversions.py ├── PyriteEnvSuites ├── env_runners │ └── virtual_target_real_env_runner.py ├── envs │ └── task │ │ └── manip_server_env.py ├── scripts │ ├── check_flip_up_success.py │ ├── plot.ipynb │ └── postprocess_add_virtual_target_label.py └── utils │ ├── env_utils.py │ └── flip_up_env_utils.py ├── PyriteML ├── diffusion_policy │ ├── common │ │ ├── checkpoint_util.py │ │ ├── cv2_util.py │ │ ├── env_util.py │ │ ├── json_logger.py │ │ ├── nested_dict_util.py │ │ ├── normalize_util.py │ │ ├── pose_repr_util.py │ │ ├── pose_trajectory_interpolator.py │ │ ├── precise_sleep.py │ │ ├── pymunk_override.py │ │ ├── pymunk_util.py │ │ ├── pytorch_util.py │ │ ├── replay_buffer.py │ │ ├── replay_buffer_legacy.py │ │ ├── sampler.py │ │ └── timestamp_accumulator.py │ ├── config │ │ ├── task │ │ │ ├── flip_up_conv.yaml │ │ │ ├── flip_up_spec.yaml │ │ │ ├── vase_wiping_conv.yaml │ │ │ └── vase_wiping_spec.yaml │ │ ├── train_conv_workspace.yaml │ │ └── train_spec_workspace.yaml │ ├── dataset │ │ ├── base_dataset.py │ │ └── virtual_target_dataset.py │ ├── model │ │ ├── bet │ │ │ ├── action_ae │ │ │ │ ├── __init__.py │ │ │ │ └── discretizers │ │ │ │ │ └── k_means.py │ │ │ ├── latent_generators │ │ │ │ ├── latent_generator.py │ │ │ │ ├── mingpt.py │ │ │ │ └── transformer.py │ │ │ ├── libraries │ │ │ │ ├── loss_fn.py │ │ │ │ └── mingpt │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── model.py │ │ │ │ │ ├── trainer.py │ │ │ │ │ └── utils.py │ │ │ └── utils.py │ │ ├── common │ │ │ ├── dict_of_tensor_mixin.py │ │ │ ├── lr_scheduler.py │ │ │ ├── module_attr_mixin.py │ │ │ ├── normalizer.py │ │ │ ├── shape_util.py │ │ │ └── tensor_util.py │ │ ├── diffusion │ │ │ ├── conditional_unet1d.py │ │ │ ├── conv1d_components.py │ │ │ ├── ema_model.py │ │ │ ├── mask_generator.py │ │ │ ├── mlp.py │ │ │ ├── positional_embedding.py │ │ │ ├── transformer_for_action_diffusion.py │ │ │ └── transformer_for_diffusion.py │ │ └── vision │ │ │ ├── crop_randomizer.py │ │ │ ├── force_spec_encoder.py │ │ │ ├── model_getter.py │ │ │ ├── multi_image_obs_encoder.py │ │ │ ├── timm_obs_encoder.py │ │ │ ├── timm_obs_encoder_with_force.py │ │ │ ├── timm_obs_encoder_with_force_spec.py │ │ │ └── transformer_obs_encoder.py │ ├── policy │ │ ├── base_image_policy.py │ │ ├── base_lowdim_policy.py │ │ ├── bet_lowdim_policy.py │ │ ├── diffusion_transformer_hybrid_image_policy.py │ │ ├── diffusion_transformer_lowdim_policy.py │ │ ├── diffusion_transformer_timm_policy.py │ │ ├── diffusion_unet_hybrid_image_policy.py │ │ ├── diffusion_unet_image_policy.py │ │ ├── diffusion_unet_lowdim_policy.py │ │ ├── diffusion_unet_timm_mod1_policy.py │ │ ├── diffusion_unet_timm_policy.py │ │ └── diffusion_unet_video_policy.py │ └── workspace │ │ ├── base_workspace.py │ │ ├── train_diffusion_unet_image_workspace.py │ │ └── train_diffusion_unet_video_workspace.py ├── notebooks │ └── convert_to_spec.py ├── scripts │ ├── test_checkpoint.ipynb │ └── test_policy_network.ipynb └── train.py ├── PyriteUtility ├── common.py ├── computer_vision │ ├── computer_vision_utility.py │ └── imagecodecs_numcodecs.py ├── data_pipeline │ ├── data_plotting.py │ ├── episode_data_buffer.py │ ├── file.py │ ├── indexing.py │ ├── real_data_processing.py │ └── shared_memory │ │ ├── shared_memory_queue.py │ │ ├── shared_memory_ring_buffer.py │ │ ├── shared_memory_util.py │ │ └── shared_ndarray.py ├── hardware_interface │ ├── multi_camera_visualizer.py │ ├── multi_uvc_camera.py │ ├── test_log_video.py │ ├── uvc_camera.py │ └── video_recorder.py ├── math │ └── numerical_differentiation.py ├── planning_control │ ├── compliance_helpers.py │ ├── filtering.py │ ├── force_control.py │ ├── mpc.py │ ├── trajectory.py │ └── trajectory_generation.py ├── plotting │ └── matplotlib_helpers.py ├── pytorch_utils │ └── model_io.py ├── spatial_math │ └── spatial_utilities.py └── umi_utils │ ├── timestamp_accumulator.py │ └── 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