openpi-RLT
openpi-RLT is an openpi-based real-robot RL system with RL-token-guided action refinement.
파일 탐색기
최종 버전 다운로드 (.zip)- batch_inference_guide.md
- docker.md
- norm_stats.md
- remote_inference.md
- compose.yml
- constants.py
- convert_aloha_data_to_lerobot.py
- Dockerfile
- env.py
- main.py
- README.md
- real_env.py
- requirements.in
- requirements.txt
- robot_utils.py
- video_display.py
- compose.yml
- Dockerfile
- env.py
- main.py
- README.md
- requirements.in
- requirements.txt
- saver.py
- compute_droid_nonidle_ranges.py
- convert_droid_data_to_lerobot.py
- main.py
- README.md
- README_train.md
- compose.yml
- convert_libero_data_to_lerobot.py
- Dockerfile
- main.py
- README.md
- requirements.in
- requirements.txt
- compose.yml
- Dockerfile
- main.py
- README.md
- requirements.in
- requirements.txt
- README.md
- convert_jax_model_to_pytorch.py
- inference.ipynb
- policy_records.ipynb
- ethernet_rlt_policy.gif
- ethernet_rlt_policy.mp4
- ethernet_vla_baseline.gif
- ethernet_vla_baseline.mp4
- policy_agent.py
- agent.py
- environment.py
- runtime.py
- subscriber.py
- __init__.py
- action_chunk_broker.py
- base_policy.py
- image_tools.py
- image_tools_test.py
- msgpack_numpy.py
- msgpack_numpy_test.py
- websocket_client_policy.py
- pyproject.toml
- online_rl.base.yaml
- runtime.dual_machine.yaml
- runtime.local_debug.yaml
- norm_stats_delta.json
- online_rl.yaml
- fake_machine_a.py
- launch_actor_eval.py
- launch_machine_b.py
- launch_robot_rollout.py
- _common.py
- eval_action_fit.py
- eval_episode_q.py
- eval_intervention_risk.py
- offline_train_from_replay.py
- README.md
- visualize_offline_training.py
- export_episode_joint_playback.py
- play_exported_joint_chunks_on_robot.py
- README.md
- inspect_replay_journal.py
- plot_learner_metrics.py
- build_replay.py
- run_online_rl.py
- stream_learner_metrics_to_wandb.py
- __init__.py
- action_representation.py
- config.py
- inference.py
- networks.py
- README.md
- replay.py
- runtime_logging.py
- trainer.py
- test_config.py
- test_inference.py
- test_networks.py
- test_replay.py
- test_trainer.py
- manual_signal_bridge.py
- pika_sync_ros.py
- keyboard_actor_eval.py
- keyboard_toggle_teleop_record_reward_isolation.py
- pyproject.toml
- README.md
- compose.yml
- install_docker_ubuntu22.sh
- install_nvidia_container_toolkit.sh
- serve_policy.Dockerfile
- __init__.py
- compute_norm_stats.py
- eval_rlt.py
- serve_policy.py
- serve_rlt_policy.py
- test_batch_padding.py
- test_rlt_batch.py
- test_rlt_client.py
- train.py
- train_pytorch.py
- train_rlt.py
- train_test.py
- fsq_tokenizer.py
- __init__.py
- gemma.py
- gemma_fast.py
- lora.py
- lora_test.py
- model.py
- model_test.py
- pi0.py
- pi0_config.py
- pi0_fast.py
- pi0_test.py
- rl_token.py
- siglip.py
- tokenizer.py
- tokenizer_test.py
- vit.py
- configuration_gemma.py
- modeling_gemma.py
- modeling_paligemma.py
- check.py
- modeling_siglip.py
- gemma_pytorch.py
- pi0_pytorch.py
- preprocessing_pytorch.py
- agilexbag_image_policy.py
- aloha_policy.py
- droid_policy.py
- libero_policy.py
- policy.py
- policy_config.py
- policy_test.py
- websocket_policy_server.py
- __init__.py
- array_typing.py
- download.py
- download_test.py
- image_tools.py
- image_tools_test.py
- nnx_utils.py
- normalize.py
- normalize_test.py
- polaris_config.py
- roboarena_config.py
- checkpoints.py
- config.py
- data_loader.py
- data_loader_test.py
- droid_rlds_dataset.py
- optimizer.py
- sharding.py
- utils.py
- weight_loaders.py
- __init__.py
- conftest.py
- py.typed
- transforms.py
- transforms_test.py
- Aloha workcell v2.stl
- Aloha cam wrist mount v13.stl
- aloha_gripper_assembly.pdf
- Gravity compensator clip, elbow mount.stl
- Gravity compensator clip, wrist mount.stl
- RSd405 2020 Overhead Cam Mount v3.stl
- RSd405 2020 Worms-eye Cam Mount v3.stl
- Shim_rotor_v1.STL
- viperx_gripper_stl.zip
- viperx_joint1_adapter.zip
- W-shim_rotor_v1.STL
- widowx_gripper_std.zip
- auto_record.sh
- constants.py
- one_side_teleop.py
- real_env.py
- realsense_publisher.py
- record_episodes.py
- replay_episodes.py
- robot_utils.py
- sleep.py
- visualize_episodes.py
- master_modes_left.yaml
- master_modes_right.yaml
- puppet_modes_left.yaml
- puppet_modes_right.yaml
- 4arms_teleop.launch
- ros_nodes.launch
- RGBGrayscaleImage.msg
- .gitignore
- CMakeLists.txt
- LICENSE
- package.xml
- README.md
- setup.py
- check_task_suites.py
- download_libero_datasets.py
- init_path.py
- render_single_task.py
- shasum_files.py
- fig1.png
- libero_logo.png
- default.yaml
- agem.yaml
- base.yaml
- er.yaml
- ewc.yaml
- multitask.yaml
- packnet.yaml
- single_task.yaml
- batch_wise_img_color_jitter_group_aug.yaml
- identity_aug.yaml
- img_color_jitter_group_aug.yaml
- translation_aug.yaml
- translation_aug_group.yaml
- patch_encoder.yaml
- resnet_encoder.yaml
- clip_encoder.yaml
- identity_encoder.yaml
- mlp_encoder.yaml
- rnn_encoder.yaml
- gmm_head.yaml
- sinusoidal_position_encoding.yaml
- bc_rnn_policy.yaml
- bc_transformer_policy.yaml
- bc_vilt_policy.yaml
- default_experiment.yaml
- adam_w.yaml
- cosine_annealing.yaml
- default.yaml
- __init__.py
- config.yaml
- KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
- KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
- KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
- KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
- LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
- LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
- LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
- LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl
- LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
- tasks_info.txt
- KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.bddl
- KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.bddl
- KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl
- KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.bddl
- KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.bddl
- KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.bddl
- KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.bddl
- KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.bddl
- KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.bddl
- KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.bddl
- KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.bddl
- KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.bddl
- KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.bddl
- KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.bddl
- KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.bddl
- KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.bddl
- KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.bddl
- KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.bddl
- KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.bddl
- KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.bddl
- KITCHEN_SCENE3_turn_on_the_stove.bddl
- KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.bddl
- KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.bddl
- KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.bddl
- KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.bddl
- KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.bddl
- KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.bddl
- KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.bddl
- KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.bddl
- KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.bddl
- KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.bddl
- KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.bddl
- KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.bddl
- KITCHEN_SCENE6_close_the_microwave.bddl
- KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.bddl
- KITCHEN_SCENE7_open_the_microwave.bddl
- KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.bddl
- KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.bddl
- KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.bddl
- KITCHEN_SCENE8_turn_off_the_stove.bddl
- KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.bddl
- KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.bddl
- KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.bddl
- KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.bddl
- KITCHEN_SCENE9_turn_on_the_stove.bddl
- KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.bddl
- LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.bddl
- LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.bddl
- LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.bddl
- LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.bddl
- LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.bddl
- LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.bddl
- LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.bddl
- LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.bddl
- LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.bddl
- LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.bddl
- LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.bddl
- LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.bddl
- LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.bddl
- LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.bddl
- LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.bddl
- LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.bddl
- LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.bddl
- LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.bddl
- LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.bddl
- LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.bddl
- LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.bddl
- LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.bddl
- LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.bddl
- LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.bddl
- LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
- LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.bddl
- LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.bddl
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl
- STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.bddl
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl
- STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.bddl
- STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.bddl
- STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.bddl
- STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.bddl
- STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.bddl
- STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.bddl
- STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.bddl
- STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.bddl
- STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.bddl
- tasks_info.txt
- open_the_middle_drawer_of_the_cabinet.bddl
- open_the_top_drawer_and_put_the_bowl_inside.bddl
- push_the_plate_to_the_front_of_the_stove.bddl
- put_the_bowl_on_the_plate.bddl
- put_the_bowl_on_the_stove.bddl
- put_the_bowl_on_top_of_the_cabinet.bddl
- put_the_cream_cheese_in_the_bowl.bddl
- put_the_wine_bottle_on_the_rack.bddl
- put_the_wine_bottle_on_top_of_the_cabinet.bddl
- tasks_info.txt
- turn_on_the_stove.bddl
- pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
- pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
- pick_up_the_butter_and_place_it_in_the_basket.bddl
- pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
- pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
- pick_up_the_ketchup_and_place_it_in_the_basket.bddl
- pick_up_the_milk_and_place_it_in_the_basket.bddl
- pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
- pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl
- pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
- tasks_info.txt
- pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl
- pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
- pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
- pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
- pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
- pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
- pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
- pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
- pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
- pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
- tasks_info.txt
- __init__.py
- libero_suite_task_map.py
- mu_creation.py
- __init__.py
- coffee_table_arena.py
- empty_arena.py
- kitchen_arena.py
- living_room_arena.py
- study_arena.py
- style.py
- table_arena.py
- __init__.py
- base_object_states.py
- __init__.py
- articulated_objects.py
- google_scanned_objects.py
- hope_objects.py
- site_object.py
- target_zones.py
- turbosquid_objects.py
- __init__.py
- base_predicates.py
- __init__.py
- libero_coffee_table_manipulation.py
- libero_floor_manipulation.py
- libero_kitchen_tabletop_manipulation.py
- libero_living_room_tabletop_manipulation.py
- libero_study_tabletop_manipulation.py
- libero_tabletop_manipulation.py
- __init__.py
- base_region_sampler.py
- object_property_sampler.py
- workspace_region_sampler.py
- __init__.py
- mounted_panda.py
- on_the_ground_panda.py
- __init__.py
- base_object.py
- bddl_base_domain.py
- bddl_utils.py
- env_wrapper.py
- textures.py
- utils.py
- venv.py
- KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.init
- KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.pruned_init
- KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.init
- KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.pruned_init
- KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.init
- KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.pruned_init
- KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.init
- KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.pruned_init
- LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.init
- LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.pruned_init
- LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.init
- LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.pruned_init
- LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.init
- LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.pruned_init
- LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.init
- LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.pruned_init
- LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.init
- LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.pruned_init
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.init
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.pruned_init
- KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.init
- KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet.pruned_init
- KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.init
- KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.pruned_init
- KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.init
- KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.pruned_init
- KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.init
- KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.pruned_init
- KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.init
- KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.pruned_init
- KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.init
- KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.pruned_init
- KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.init
- KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet.pruned_init
- KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.init
- KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet.pruned_init
- KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.init
- KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it.pruned_init
- KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.init
- KITCHEN_SCENE1_put_the_black_bowl_on_the_plate.pruned_init
- KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.init
- KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet.pruned_init
- KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.init
- KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet.pruned_init
- KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.init
- KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate.pruned_init
- KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.init
- KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate.pruned_init
- KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.init
- KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate.pruned_init
- KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.init
- KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet.pruned_init
- KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.init
- KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.pruned_init
- KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.init
- KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl.pruned_init
- KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.init
- KITCHEN_SCENE3_put_the_frying_pan_on_the_stove.pruned_init
- KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.init
- KITCHEN_SCENE3_put_the_moka_pot_on_the_stove.pruned_init
- KITCHEN_SCENE3_turn_on_the_stove.init
- KITCHEN_SCENE3_turn_on_the_stove.pruned_init
- KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.init
- KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it.pruned_init
- KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.init
- KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet.pruned_init
- KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.init
- KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer.pruned_init
- KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.init
- KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet.pruned_init
- KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.init
- KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet.pruned_init
- KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.init
- KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet.pruned_init
- KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.init
- KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack.pruned_init
- KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.init
- KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet.pruned_init
- KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.init
- KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.pruned_init
- KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.init
- KITCHEN_SCENE5_put_the_black_bowl_on_the_plate.pruned_init
- KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.init
- KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet.pruned_init
- KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.init
- KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet.pruned_init
- KITCHEN_SCENE6_close_the_microwave.init
- KITCHEN_SCENE6_close_the_microwave.pruned_init
- KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.init
- KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug.pruned_init
- KITCHEN_SCENE7_open_the_microwave.init
- KITCHEN_SCENE7_open_the_microwave.pruned_init
- KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.init
- KITCHEN_SCENE7_put_the_white_bowl_on_the_plate.pruned_init
- KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.init
- KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate.pruned_init
- KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.init
- KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove.pruned_init
- KITCHEN_SCENE8_turn_off_the_stove.init
- KITCHEN_SCENE8_turn_off_the_stove.pruned_init
- KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.init
- KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf.pruned_init
- KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.init
- KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet.pruned_init
- KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.init
- KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf.pruned_init
- KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.init
- KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet.pruned_init
- KITCHEN_SCENE9_turn_on_the_stove.init
- KITCHEN_SCENE9_turn_on_the_stove.pruned_init
- KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.init
- KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it.pruned_init
- LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.init
- LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket.pruned_init
- LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.init
- LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket.pruned_init
- LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.init
- LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket.pruned_init
- LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.init
- LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket.pruned_init
- LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.init
- LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.pruned_init
- LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.init
- LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.pruned_init
- LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.init
- LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.pruned_init
- LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.init
- LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.pruned_init
- LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.init
- LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.pruned_init
- LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.init
- LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray.pruned_init
- LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.init
- LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray.pruned_init
- LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.init
- LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray.pruned_init
- LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.init
- LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray.pruned_init
- LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.init
- LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray.pruned_init
- LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.init
- LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray.pruned_init
- LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.init
- LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray.pruned_init
- LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.init
- LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray.pruned_init
- LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.init
- LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray.pruned_init
- LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.init
- LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray.pruned_init
- LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.init
- LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate.pruned_init
- LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.init
- LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate.pruned_init
- LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.init
- LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate.pruned_init
- LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.init
- LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate.pruned_init
- LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.init
- LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate.pruned_init
- LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.init
- LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate.pruned_init
- LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.init
- LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate.pruned_init
- LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.init
- LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate.pruned_init
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.init
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.pruned_init
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.init
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.pruned_init
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.init
- STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.pruned_init
- STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.init
- STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy.pruned_init
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.init
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.pruned_init
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.init
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.pruned_init
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.init
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.pruned_init
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.init
- STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.pruned_init
- STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.init
- STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy.pruned_init
- STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.init
- STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy.pruned_init
- STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.init
- STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy.pruned_init
- STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.init
- STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy.pruned_init
- STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.init
- STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy.pruned_init
- STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.init
- STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf.pruned_init
- STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.init
- STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf.pruned_init
- STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.init
- STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf.pruned_init
- STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.init
- STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf.pruned_init
- open_the_middle_drawer_of_the_cabinet.pruned_init
- open_the_top_drawer_and_put_the_bowl_inside.pruned_init
- push_the_plate_to_the_front_of_the_stove.pruned_init
- put_the_bowl_on_the_plate.pruned_init
- put_the_bowl_on_the_stove.pruned_init
- put_the_bowl_on_top_of_the_cabinet.pruned_init
- put_the_cream_cheese_in_the_bowl.pruned_init
- put_the_wine_bottle_on_the_rack.pruned_init
- put_the_wine_bottle_on_top_of_the_cabinet.pruned_init
- turn_on_the_stove.pruned_init
- pick_up_the_alphabet_soup_and_place_it_in_the_basket.init
- pick_up_the_alphabet_soup_and_place_it_in_the_basket.pruned_init
- pick_up_the_bbq_sauce_and_place_it_in_the_basket.init
- pick_up_the_bbq_sauce_and_place_it_in_the_basket.pruned_init
- pick_up_the_butter_and_place_it_in_the_basket.init
- pick_up_the_butter_and_place_it_in_the_basket.pruned_init
- pick_up_the_chocolate_pudding_and_place_it_in_the_basket.init
- pick_up_the_chocolate_pudding_and_place_it_in_the_basket.pruned_init
- pick_up_the_cream_cheese_and_place_it_in_the_basket.init
- pick_up_the_cream_cheese_and_place_it_in_the_basket.pruned_init
- pick_up_the_ketchup_and_place_it_in_the_basket.init
- pick_up_the_ketchup_and_place_it_in_the_basket.pruned_init
- pick_up_the_milk_and_place_it_in_the_basket.init
- pick_up_the_milk_and_place_it_in_the_basket.pruned_init
- pick_up_the_orange_juice_and_place_it_in_the_basket.init
- pick_up_the_orange_juice_and_place_it_in_the_basket.pruned_init
- pick_up_the_salad_dressing_and_place_it_in_the_basket.init
- pick_up_the_salad_dressing_and_place_it_in_the_basket.pruned_init
- pick_up_the_tomato_sauce_and_place_it_in_the_basket.init
- pick_up_the_tomato_sauce_and_place_it_in_the_basket.pruned_init
- pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.init
- pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.pruned_init
- pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.init
- pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.pruned_init
- pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.init
- pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.pruned_init
- pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.init
- pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.pruned_init
- pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.init
- pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.pruned_init
- pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.init
- pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.pruned_init
- pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.init
- pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.pruned_init
- pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.init
- pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.pruned_init
- pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.init
- pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.pruned_init
- pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.init
- pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.pruned_init
- __init__.py
- bddl_generation_utils.py
- dataset_utils.py
- download_utils.py
- log_utils.py
- mu_utils.py
- object_utils.py
- task_generation_utils.py
- time_utils.py
- utils.py
- video_utils.py
- __init__.py
- __init__.py
- agem.py
- base.py
- er.py
- ewc.py
- multitask.py
- packnet.py
- single_task.py
- data_augmentation.py
- language_modules.py
- rgb_modules.py
- transformer_modules.py
- __init__.py
- base_policy.py
- bc_rnn_policy.py
- bc_transformer_policy.py
- bc_vilt_policy.py
- policy_head.py
- __init__.py
- datasets.py
- evaluate.py
- init_path.py
- main.py
- metric.py
- utils.py
- libero_mug.obj
- libero_mug.png
- libero_mug.xml
- libero_mug_yellow.obj
- libero_mug_yellow.png
- libero_mug_yellow.xml
- custom_object_example.ipynb
- procedural_creation_walkthrough.ipynb
- quick_guide_algo.ipynb
- quick_walkthrough.ipynb
- check_dataset_integrity.py
- collect_demonstration.py
- config_copy.py
- create_dataset.py
- create_libero_task_example.py
- create_template.py
- get_affordance_info.py
- get_dataset_info.py
- init_path.py
- libero_100_collect_demonstrations.py
- problem_class_template.py
- scene_template.xml
- .gitignore
- LICENSE
- README.md
- requirements.txt
- setup.py
- .dockerignore
- .gitignore
- .pre-commit-config.yaml
- .python-version
- LICENSE
- LICENSE_GEMMA.txt
- pyproject.toml
- README.md
- uv.lock
// repository documentation
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