UMI-FT
In-the-Wild Compliant Manipulation with UMI-FT
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Download Latest Version (.zip)- lint.yml
- __init__.py
- common_type_conversions.py
- __init__.py
- flip_up_type_conversion.py
- __init__.py
- umift_type_conversions.py
- __init__.py
- .gitignore
- .pre-commit-config.yaml
- __init__.py
- CONTRIBUTING.md
- pyproject.toml
- README.md
- lint.yml
- __init__.py
- residual_online_learning_env_runner.py
- simple_chunk_sim_env_runner.py
- umift_env_runner.py
- virtual_target_real_env_runner.py
- __init__.py
- mujocoEnv.py
- mujocoRobot.py
- ur5.py
- __init__.py
- flip_up.py
- manip_server_env.py
- manip_server_handle_env.py
- manip_server_umift_env.py
- __init__.py
- env_utility.py
- robot_utlity.py
- __init__.py
- record.py
- __init__.py
- __init__.py
- check_flip_up_success.py
- exam_data.ipynb
- exp_plot.py
- exp_plot_2.py
- kill_ports.py
- plot.ipynb
- plot_control_log.py
- run_data_generation.py
- run_env_runner.ipynb
- run_evaluation_parallel.py
- run_evaluation_sequential.py
- run_playback.py
- test_cuda_stream.py
- test_multiprocessing.py
- test_multiprocessing2.py
- test_plot.py
- visualize_log.ipynb
- __init__.py
- env_utils.py
- flip_up_env_utils.py
- sound_plot.py
- .gitignore
- .pre-commit-config.yaml
- __init__.py
- CONTRIBUTING.md
- LICENSE
- pyproject.toml
- README.md
- lint.yml
- __init__.py
- 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
- sampler_state_based.py
- sampler_umift.py
- sampler_with_augmentations.py
- timestamp_accumulator.py
- bin_extraction.yaml
- correction_single_arm.yaml
- correction_single_arm_xyzforce_only.yaml
- drag_tm.yaml
- flip_up_conv.yaml
- flip_up_spec.yaml
- flip_up_tm.yaml
- online_correction_single_arm.yaml
- online_correction_single_arm_gripper.yaml
- online_correction_single_arm_no_base_action.yaml
- online_correction_single_arm_no_base_action_no_force.yaml
- online_correction_single_arm_no_force.yaml
- online_correction_tf_single_arm.yaml
- stow_conv.yaml
- stow_no_force.yaml
- stow_spec.yaml
- transformer_correction_single_arm.yaml
- umi-ft-dp.yaml
- umift_single_arm_ref.yaml
- umift_single_arm_two_coinft.yaml
- umift_single_arm_two_coinft_dp.yaml
- umift_zucchini.yaml
- vase_wiping_conv.yaml
- vase_wiping_spec.yaml
- train_dp_finetune_workspace.yaml
- train_dp_workspace.yaml
- train_online_residual_mlp_workspace.yaml
- train_online_residual_mlp_workspace_no_force.yaml
- train_online_residual_tf_workspace.yaml
- train_residual_mlp_workspace.yaml
- train_residual_transformer_workspace.yaml
- train_spec_workspace.yaml
- train_state_dp_workspace.yaml
- train_transformer_mlp_dense_only_workspace.yaml
- train_transformer_mlp_workspace.yaml
- train_umift_workspace.yaml
- __init__.py
- base_dataset.py
- dynamic_dataset.py
- hybrid_dataset.py
- umift_dataset.py
- virtual_target_dataset.py
- __init__.py
- k_means.py
- __init__.py
- __init__.py
- latent_generator.py
- mingpt.py
- transformer.py
- __init__.py
- LICENSE
- model.py
- trainer.py
- utils.py
- __init__.py
- loss_fn.py
- __init__.py
- utils.py
- __init__.py
- dict_of_tensor_mixin.py
- lr_scheduler.py
- module_attr_mixin.py
- normalizer.py
- shape_util.py
- tensor_util.py
- __init__.py
- 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
- __init__.py
- conv_mlp.py
- mlp.py
- transformer.py
- __init__.py
- crop_randomizer.py
- force_spec_encoder.py
- model_getter.py
- multi_image_obs_encoder.py
- timm_obs_encoder.py
- timm_obs_encoder_force_residual.py
- timm_obs_encoder_with_force.py
- timm_obs_encoder_with_force_spec.py
- transformer_obs_encoder.py
- __init__.py
- __init__.py
- 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
- transformer_mlp_policy.py
- __init__.py
- base_workspace.py
- train_diffusion_unet_image_finetune_workspace.py
- train_diffusion_unet_image_workspace.py
- train_diffusion_unet_video_workspace.py
- train_online_residual_mlp_workspace.py
- train_online_residual_tf_workspace.py
- train_residual_mlp_workspace.py
- train_residual_transformer_workspace.py
- train_transformer_mlp_workspace.py
- __init__.py
- training_default.yaml
- __init__.py
- MultimodalManipulationDataset.py
- ProcessFlow.py
- ProcessForce.py
- ToTensor.py
- download_data.sh
- __init__.py
- decoders.py
- encoders.py
- layers.py
- __init__.py
- test_layers.py
- __init__.py
- models_utils.py
- sensor_fusion.py
- run_all_tests.sh
- __init__.py
- selfsupervised.py
- __init__.py
- logger.py
- mini_main.py
- utils.py
- .gitignore
- LICENSE
- README.md
- requirements.txt
- convert_to_spec.py
- __init__.py
- config_v1.py
- __init__.py
- residual_learner_v1.py
- __init__.py
- actor.py
- learner.py
- correction_data_metrics.py
- correction_metric2.py
- plot_2_mp4.py
- plot_dataset.py
- plot_UMIFT_compare.py
- plot_UMIFT_compare2.py
- plot_UMIFT_debug.py
- plot_video_3d.py
- test_checkpoint.ipynb
- test_checkpoint_umift.ipynb
- test_policy_network.ipynb
- test_rmq.ipynb
- test_rmq_client.py
- test_rmq_server.py
- wrench_calibration.py
- .gitignore
- .gitmodules
- .pre-commit-config.yaml
- conda_environment.yaml
- CONTRIBUTING.md
- LICENSE
- notes.md
- pyproject.toml
- README.md
- train.py
- lint.yml
- audio_recorder.py
- mic.py
- multi_mic.py
- computer_vision_utility.py
- imagecodecs_numcodecs.py
- shared_memory_queue.py
- shared_memory_ring_buffer.py
- shared_memory_util.py
- shared_ndarray.py
- data_plotting.py
- episode_data_buffer.py
- file.py
- indexing.py
- plot_correction_data.py
- postprocessing_add_virtual_target_label.py
- postprocessing_add_virtual_target_label_umift.py
- processing_functions.py
- real_data_check_keys.py
- real_data_check_timing.py
- real_data_delete_fields.py
- real_data_just_update_meta.py
- real_data_processing.py
- umift_mask.json
- zarr_examination.py
- multi_camera_visualizer.py
- multi_uvc_camera.py
- spacemouse.py
- test_log_video.py
- uvc_camera.py
- video_recorder.py
- numerical_differentiation.py
- compliance_helpers.py
- filtering.py
- force_control.py
- greedy_predictive_sampling.py
- mpc.py
- predictive_sampling.py
- primitive_grasp_sampling.py
- rrt.py
- rrt_plotting.py
- shooting_sampling.py
- trajectory.py
- trajectory_generation.py
- tree.py
- matplotlib_helpers.py
- traj_and_rgb.py
- model_io.py
- spatial_utilities.py
- timestamp_accumulator.py
- usb_util.py
- __init__.py
- common.py
- .gitignore
- .pre-commit-config.yaml
- CONTRIBUTING.md
- pyproject.toml
- README.md
- setup.py
- tatus
- workspace.code-workspace
- iphone_15pro_mount.blend
- iphone_15pro_mount.obj
- iphone_15pro_to_gopro_transform.blend
- style.css
- favicon.png
- jquery.min.js
- qrcodeborder.js
- index.html
- contants.py
- cv_util.py
- generic_util.py
- import_umi_source.py
- latency_util.py
- plot_util.py
- qr_code_util.py
- replay_buffer.py
- replay_buffer_util.py
- timecode_util.py
- trajectory_util.py
- transform_util.py
- gen_dataset_plan.py
- gen_replay_buffer.py
- aruco_config.yaml
- gopro_intrinsics_2_7k.json
- iphone15pro_calibration.yaml
- build_umi_dataset_iphone.yaml
- create_session_iphone.yaml
- process_demos_gopro.yaml
- process_demos_iphone.yaml
- align.py
- calibrate.py
- detect.py
- group.py
- label.py
- timesync.py
- visualize.py
- detect_aruco_iphone.py
- visualize_umi_trajectory.py
- 06_generate_dataset_plan.py
- 06_generate_dataset_plan.py
- 07_generate_replay_buffer.py
- color_util.py
- depth_util.py
- generic_util.py
- gopro_util.py
- gripper_util.py
- build_umi_dataset_gopro.py
- build_umi_dataset_iphone.py
- create_session_gopro.py
- create_session_iphone.py
- process_demos_gopro.py
- process_demos_iphone.py
- README.md
- arx5_controller.py
- arx5_env.py
- arx5_zmq_client.py
- pose_trajectory_interpolator.py
- timestamp_accumulator.py
- iphone_camera.py
- iphone_camera_umift.py
- keystroke_counter.py
- multi_camera_visualizer.py
- multi_iphone_camera.py
- multi_iphone_camera_umift.py
- spacemouse_shared_memory.py
- video_recorder.py
- eval_arx5.py
- shared_memory_queue.py
- shared_memory_ring_buffer.py
- shared_memory_util.py
- shared_ndarray.py
- cv2_util.py
- cv_util.py
- interpolation_util.py
- other_util.py
- pose_repr_util.py
- pose_util.py
- real_inference_util.py
- usb_util.py
- .gitignore
- README.md
- iphone_deploy.py
- detached_inference.py
- data_descriptions.py
- mocap_data.py
- mocap_node.py
- natnet_client.py
- README.md
- pose_viewer.py
- capture_iphone_and_mocap.py
- plot_iphone_and_mocap.py
- plot_iphone_app.py
- view_iphone_record3d.py
- view_mocap.py
- augmentation.py
- sampler.py
- torch_util.py
- diffusion_unet_timm.yaml
- progression_net.yaml
- libero_10.yaml
- libero_90.yaml
- libero_defaults.yaml
- libero_goal.yaml
- libero_object.yaml
- libero_spatial.yaml
- multitask_umi_policy.yaml
- multitask_umi_progression.yaml
- singletask_umi_policy.yaml
- libero_policy.yaml
- libero_policy_rollout.yaml
- umi_policy.yaml
- umi_progression.yaml
- libero_replay_image_dataset.py
- umi_task_dataset.py
- libero_bddl_mapping.py
- libero_image_runner.py
- rotation_transformer.py
- language_embedding.py
- timm_obs_encoder.py
- progression_net.py
- libero_util.py
- load_env.py
- training_utils.py
- video_recorder.py
- rollout_policy_workspace.py
- train_policy_workspace.py
- train_progression_workspace.py
- train.py
- __init__.py
- .gitignore
- environment.yml
- README.md
- setup.py
- annotated.jpg
- participant-annotated.jpg
- place-a-block.jpg
- LICENSE.txt
- Contents.json
- Contents.json
- refresh@2x.png
- refresh@3x.png
- Contents.json
- LaunchScreen.storyboard
- Main.storyboard
- DeploymentViewController.swift
- Atomic.swift
- CameraError.swift
- CentralManager.swift
- Peripheral+Camera.swift
- Peripheral.swift
- GoPro.swift
- GoProManager.swift
- GoProsViewController.swift
- AppDelegate.swift
- DateManager.swift
- DemonstrationData.swift
- DemonstrationsViewController.swift
- DepthConfidenceVideoWriter.swift
- DepthPreviewVideoWriter.swift
- DepthVideoWriter.swift
- Info.plist
- MessageLabel.swift
- MultipeerSession.swift
- NarrationCommands.swift
- RootViewController.swift
- SocketClient.swift
- SocketUtil.swift
- SpeechRecognizer.swift
- TasksViewController.swift
- Utilities.swift
- VideoWriter.swift
- ViewController+CoachingOverlay.swift
- ViewController.swift
- ViewDemonstrationFileViewController.swift
- WorkspaceSettings.xcsettings
- umi_day_iphone.xcscheme
- project.pbxproj
- IDEWorkspaceChecks.plist
- contents.xcworkspacedata
- .gitignore
- Podfile
- Podfile.lock
- README.md
- data_post_process_iphone.sh
- data_post_process_multimodal.sh
- wired_collect_data.sh
- umi_day.yml
- umiFT.yml
- umift_datacollection.yml
- aruco_config.yaml
- gopro_intrinsics_2_7k.json
- umi_day.yml
- umift.yml
- mat_to_json.py
- new_process_demos.py
- plot_dataset_umift_ultrawide_depth.py
- process.py
- process_multimodal.py
- read_json.py
- visualize_zarr_img_get_pixel_coordinates.py
- zarr_utils.py
- imagecodecs_numcodecs.py
- interpolate_utils.py
- preproc.py
- read_ft.py
- wired_time_sync.py
- zarr_dataset.py
- zarr_replay_buffer.py
- depth_utils.py
- json_utils.py
- plot_utils.py
- port_utils.py
- print_utils.py
- rotation_utils.py
- time_utils.py
- psocScanner.py
- umift_ft_timestampped_UART.py
- .gitignore
- README.md
- setup.py
- .gitignore
- .gitmodules
- LICENSE
- README.md
- umift_data_visualization.png
# Installation Guide
1. Get the code
git clone https://github.com/real-stanford/UMI-FT
Downloads the entire project code from GitHub to your computer.
cd UMI-FT
Moves into the project folder you just downloaded.
2. Python
Easy RecommendedPrerequisites
pip install -e .
Installs the Python libraries listed in requirements.txt (or similar).
If it runs without errors and prints output in the terminal, it worked.
Pulled directly from this repo's README.
// repository documentation
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