LICENSE
README.md
pyproject.toml
sparkmind/__init__.py
sparkmind.egg-info/PKG-INFO
sparkmind.egg-info/SOURCES.txt
sparkmind.egg-info/dependency_links.txt
sparkmind.egg-info/requires.txt
sparkmind.egg-info/top_level.txt
sparkmind/config/__init__.py
sparkmind/config/config_il.yaml
sparkmind/config/config_rl.yaml
sparkmind/config/config_vla.yaml
sparkmind/config/model_zoo.json
sparkmind/config/utils.py
sparkmind/config/control/default_control.yaml
sparkmind/config/control/robot_control.yaml
sparkmind/config/data/default_record.yaml
sparkmind/config/deploy/default.yaml
sparkmind/config/deploy/libero_eval.yaml
sparkmind/config/domain_rand/default_dr.yaml
sparkmind/config/domain_rand/h1_dr.yaml
sparkmind/config/robot/amp_humanoid.yaml
sparkmind/config/robot/humanoid_info.yaml
sparkmind/config/robot/multi_robots.yaml
sparkmind/config/sim/default_cpu_sim.yaml
sparkmind/config/sim/default_sim.yaml
sparkmind/config/sim/robot_sim.yaml
sparkmind/config/task/Aloha_mobile_cabinet.yaml
sparkmind/config/task/Aloha_mobile_shrimp.yaml
sparkmind/config/task/Aloha_sim_insertion_human.yaml
sparkmind/config/task/Aloha_sim_transfer_cube_human.yaml
sparkmind/config/task/HumanGPTGetupMcp.yaml
sparkmind/config/task/HumanGPTGetupMcpX.yaml
sparkmind/config/task/HumanGPTMotionGenBase.yaml
sparkmind/config/task/HumanGPTMotionGenMulti.yaml
sparkmind/config/task/HumanGPTMotionGenSeq.yaml
sparkmind/config/task/HumanGPTMotionGenT2M.yaml
sparkmind/config/task/HumanGPTPC.yaml
sparkmind/config/task/HumanGPTPCG1.yaml
sparkmind/config/task/HumanGPTPCH1.yaml
sparkmind/config/task/HumanGPTPCPNN.yaml
sparkmind/config/task/HumanGPTPCPNNX.yaml
sparkmind/config/task/HumanGPTPCVR.yaml
sparkmind/config/task/HumanGPTPCY1.yaml
sparkmind/config/task/Humanoid.yaml
sparkmind/config/task/HumanoidAFP.yaml
sparkmind/config/task/HumanoidAMP.yaml
sparkmind/config/task/HumanoidAMPHands.yaml
sparkmind/config/task/HumanoidASEGetupSwordShield.yaml
sparkmind/config/task/HumanoidASEHeadingSwordShield.yaml
sparkmind/config/task/HumanoidASELocationSwordShield.yaml
sparkmind/config/task/HumanoidASEPerturbSwordShield.yaml
sparkmind/config/task/HumanoidASEReachSwordShield.yaml
sparkmind/config/task/HumanoidASEStrikeSwordShield.yaml
sparkmind/config/task/HumanoidASEViewMotion.yaml
sparkmind/config/task/HumanoidHOTUGetup.yaml
sparkmind/config/task/HumanoidHOTUHOI.yaml
sparkmind/config/task/HumanoidHOTUHeading.yaml
sparkmind/config/task/HumanoidHOTULocation.yaml
sparkmind/config/task/HumanoidHOTUPerturb.yaml
sparkmind/config/task/HumanoidHOTUStyle.yaml
sparkmind/config/task/HumanoidHOTUViewMotion.yaml
sparkmind/config/task/Libero_10.yaml
sparkmind/config/task/Libero_90.yaml
sparkmind/config/task/Libero_goal.yaml
sparkmind/config/task/Libero_object.yaml
sparkmind/config/task/Libero_spatial.yaml
sparkmind/config/task/Metaworld_button_press.yaml
sparkmind/config/task/Metaworld_door_open.yaml
sparkmind/config/task/Metaworld_drawer_open.yaml
sparkmind/config/task/Metaworld_pick_place.yaml
sparkmind/config/task/Metaworld_push.yaml
sparkmind/config/task/Metaworld_reach.yaml
sparkmind/config/task/PushT.yaml
sparkmind/config/task/PushT_keypoints.yaml
sparkmind/config/train/BaseTaskA2CRofuncRL.yaml
sparkmind/config/train/BaseTaskACT.yaml
sparkmind/config/train/BaseTaskAMPRofuncRL.yaml
sparkmind/config/train/BaseTaskDP.yaml
sparkmind/config/train/BaseTaskDTRANSRofuncRL.yaml
sparkmind/config/train/BaseTaskGeomACT.yaml
sparkmind/config/train/BaseTaskGroot.yaml
sparkmind/config/train/BaseTaskPHYSHOIRofuncRL.yaml
sparkmind/config/train/BaseTaskPI0.yaml
sparkmind/config/train/BaseTaskPI05.yaml
sparkmind/config/train/BaseTaskPI0Fast.yaml
sparkmind/config/train/BaseTaskPPORofuncRL.yaml
sparkmind/config/train/BaseTaskSACRofuncRL.yaml
sparkmind/config/train/BaseTaskSmolVLA.yaml
sparkmind/config/train/BaseTaskTD3RofuncRL.yaml
sparkmind/config/train/BaseTaskWallX.yaml
sparkmind/config/train/BaseTaskXVLA.yaml
sparkmind/config/train/BaskTaskGeomSmolVLA.yaml
sparkmind/config/train/CartpolePPO.yaml
sparkmind/config/train/FrankaCabinetPPO.yaml
sparkmind/config/train/FrankaCabinetPPORofuncRL.yaml
sparkmind/config/train/FrankaCabinetPPOSKRL.yaml
sparkmind/config/train/FrankaCabinetPPOStb3.yaml
sparkmind/config/train/Gym_Pendulum-v1A2CRofuncRL.yaml
sparkmind/config/train/HumanGPTLargeRofuncRL.yaml
sparkmind/config/train/HumanGPTMCPLargeRofuncRL.yaml
sparkmind/config/train/HumanGPTRofuncRL.yaml
sparkmind/config/train/HumanoidAFPRofuncRL.yaml
sparkmind/config/train/HumanoidAMPPPO.yaml
sparkmind/config/train/HumanoidAMPPPOLowGP.yaml
sparkmind/config/train/HumanoidASEGetupSwordShieldASERofuncRL.yaml
sparkmind/config/train/HumanoidASEHeadingSwordShieldASERofuncRL.yaml
sparkmind/config/train/HumanoidASELocationSwordShieldASERofuncRL.yaml
sparkmind/config/train/HumanoidASEPerturbSwordShieldASERofuncRL.yaml
sparkmind/config/train/HumanoidASEReachSwordShieldASERofuncRL.yaml
sparkmind/config/train/HumanoidASEStrikeSwordShieldASERofuncRL.yaml
sparkmind/config/train/HumanoidASEViewMotionASERofuncRL.yaml
sparkmind/config/train/HumanoidHOTUGetupRofuncRL.yaml
sparkmind/config/train/HumanoidHOTUHOIRofuncRL.yaml
sparkmind/config/train/HumanoidHOTUHeadingRofuncRL.yaml
sparkmind/config/train/HumanoidHOTULocationRofuncRL.yaml
sparkmind/config/train/HumanoidHOTUPerturbRofuncRL.yaml
sparkmind/config/train/HumanoidHOTUStyleRofuncRL.yaml
sparkmind/config/train/HumanoidHOTUViewMotionRofuncRL.yaml
sparkmind/config/train/HumanoidPPO.yaml
sparkmind/config/train/HumanoidPhysHOIPPORofuncRL.yaml
sparkmind/config/train/Libero10_ACT_SKM.yaml
sparkmind/config/train/Libero10_SmolVLA_SKM.yaml
sparkmind/config/train/Libero10_XVLA_SKM.yaml
sparkmind/data/__init__.py
sparkmind/data/collection/__init__.py
sparkmind/data/collection/base_recorder.py
sparkmind/data/collection/realtime_recorder.py
sparkmind/data/collection/sync_manager.py
sparkmind/data/processing/__init__.py
sparkmind/data/processing/augmenters.py
sparkmind/data/processing/base_processor.py
sparkmind/data/processing/validators.py
sparkmind/data/storage/__init__.py
sparkmind/data/storage/dataset.py
sparkmind/data/storage/libero_dataset.py
sparkmind/deployment/__init__.py
sparkmind/deployment/base_deployer.py
sparkmind/deployment/evaluator.py
sparkmind/deployment/inference_engine.py
sparkmind/envs/__init__.py
sparkmind/envs/aloha.py
sparkmind/envs/libero.py
sparkmind/envs/metaworld.py
sparkmind/envs/pusht.py
sparkmind/envs/suite_task.py
sparkmind/hardware/__init__.py
sparkmind/hardware/robots/__init__.py
sparkmind/hardware/robots/base_robot.py
sparkmind/hardware/sensors/__init__.py
sparkmind/hardware/sensors/base_sensor.py
sparkmind/hardware/teleoperators/__init__.py
sparkmind/hardware/teleoperators/base_teleop.py
sparkmind/integration/__init__.py
sparkmind/integration/augmentation.py
sparkmind/integration/kinematics.py
sparkmind/integration/planning.py
sparkmind/integration/validation.py
sparkmind/learning/__init__.py
sparkmind/learning/GeomAM/__init__.py
sparkmind/learning/GeomAM/agents/__init__.py
sparkmind/learning/GeomAM/agents/geom_act_agent.py
sparkmind/learning/GeomAM/agents/geom_smolvla_agent.py
sparkmind/learning/GeomAM/geometry/__init__.py
sparkmind/learning/GeomAM/geometry/dof_field.py
sparkmind/learning/GeomAM/geometry/registration.py
sparkmind/learning/GeomAM/models/__init__.py
sparkmind/learning/GeomAM/models/geom_act_model.py
sparkmind/learning/GeomAM/models/geom_smolvla_model.py
sparkmind/learning/GeomAM/processor/__init__.py
sparkmind/learning/GeomAM/processor/libero_geom_state20_step.py
sparkmind/learning/GeomAM/scripts/export_libero_all_instance_pointclouds.py
sparkmind/learning/GeomAM/scripts/export_libero_camera_params.py
sparkmind/learning/GeomAM/scripts/export_libero_merged_demo_pointcloud.py
sparkmind/learning/GeomAM/scripts/precompute_geomact_dof.py
sparkmind/learning/GeomAM/scripts/precompute_geomact_identity_geometry.py
sparkmind/learning/GeomAM/scripts/visualize_geomact_dof_pipeline_demo.py
sparkmind/learning/GeomAM/scripts/visualize_libero_geom_trajectories.py
sparkmind/learning/GeomAM/scripts/visualize_ply_in_mujoco.py
sparkmind/learning/GeomAM/trainers/__init__.py
sparkmind/learning/GeomAM/trainers/geom_act_trainer.py
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sparkmind/learning/GeomAM/utils/__init__.py
sparkmind/learning/GeomAM/utils/action_frames.py
sparkmind/learning/GeomAM/utils/dof_action_frame.py
sparkmind/learning/GeomAM/utils/dof_features.py
sparkmind/learning/GeomAM/utils/geom_state_ablation.py
sparkmind/learning/GeomAM/utils/libero_online_state20.py
sparkmind/learning/GeomAM/utils/online_dof.py
sparkmind/learning/GeomAM/utils/schema.py
sparkmind/learning/GeomAM/utils/state20_eval_plot.py
sparkmind/learning/GeomAM/utils/trajectory_codec.py
sparkmind/learning/IL/agents/__init__.py
sparkmind/learning/IL/agents/act_agent.py
sparkmind/learning/IL/agents/base_il_agent.py
sparkmind/learning/IL/agents/dp_agent.py
sparkmind/learning/IL/agents/residual_act_agent.py
sparkmind/learning/IL/datasets/__init__.py
sparkmind/learning/IL/datasets/libero_residual_online_dataset.py
sparkmind/learning/IL/models/__init__.py
sparkmind/learning/IL/models/act_model.py
sparkmind/learning/IL/models/diffusion_model.py
sparkmind/learning/IL/trainers/__init__.py
sparkmind/learning/IL/trainers/act_trainer.py
sparkmind/learning/IL/trainers/base_il_trainer.py
sparkmind/learning/IL/trainers/dp_trainer.py
sparkmind/learning/IL/trainers/residual_act_trainer.py
sparkmind/learning/IL/utils/accelerator_train.py
sparkmind/learning/IL/utils/act_lerobot_parity.py
sparkmind/learning/IL/utils/act_train_lerobot_spkm_compare.py
sparkmind/learning/IL/utils/eval_config.py
sparkmind/learning/IL/utils/il_dataset_factory.py
sparkmind/learning/IL/utils/il_hydra_runtime.py
sparkmind/learning/IL/utils/residual_copilot.py
sparkmind/learning/IL/utils/residual_data_utils.py
sparkmind/learning/RL/__init__.py
sparkmind/learning/RL/agents/__init__.py
sparkmind/learning/RL/agents/base_agent.py
sparkmind/learning/RL/agents/marl/__init__.py
sparkmind/learning/RL/agents/mixline/__init__.py
sparkmind/learning/RL/agents/mixline/afp_agent.py
sparkmind/learning/RL/agents/mixline/amp_agent.py
sparkmind/learning/RL/agents/mixline/ase_agent.py
sparkmind/learning/RL/agents/mixline/ase_hrl_agent.py
sparkmind/learning/RL/agents/mixline/hotu_hlmm_agent.py
sparkmind/learning/RL/agents/mixline/hotu_hrl_agent.py
sparkmind/learning/RL/agents/mixline/hotu_llc_agent.py
sparkmind/learning/RL/agents/mixline/hotu_rlrf_agent.py
sparkmind/learning/RL/agents/mixline/hotuwdf_llc_agent.py
sparkmind/learning/RL/agents/mixline/mcp_agent.py
sparkmind/learning/RL/agents/mixline/phc_agent.py
sparkmind/learning/RL/agents/mixline/physhoi_agent.py
sparkmind/learning/RL/agents/offline/__init__.py
sparkmind/learning/RL/agents/offline/cql_agent.py
sparkmind/learning/RL/agents/offline/dtrans_agent.py
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sparkmind/learning/RL/agents/offline/td3bc_agent.py
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sparkmind/learning/RL/agents/online/a2c_agent.py
sparkmind/learning/RL/agents/online/ppo_agent.py
sparkmind/learning/RL/agents/online/sac_agent.py
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sparkmind/learning/RL/models/actor_models.py
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sparkmind/learning/RL/models/critic_models.py
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sparkmind/learning/RL/models/q_models.py
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sparkmind/learning/RL/processors/__init__.py
sparkmind/learning/RL/processors/noises.py
sparkmind/learning/RL/processors/normalizers.py
sparkmind/learning/RL/processors/running_mean_std.py
sparkmind/learning/RL/processors/schedulers.py
sparkmind/learning/RL/processors/standard_scaler.py
sparkmind/learning/RL/state_encoders/__init__.py
sparkmind/learning/RL/state_encoders/base_encoders.py
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sparkmind/learning/RL/state_encoders/spatial_encoders.py
sparkmind/learning/RL/state_encoders/visual_encoders.py
sparkmind/learning/RL/tasks/__init__.py
sparkmind/learning/RL/tasks/isaacgym/__init__.py
sparkmind/learning/RL/tasks/isaacgym/ase/__init__.py
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sparkmind/learning/RL/tasks/isaacgym/ase/humanoid_location.py
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sparkmind/learning/RL/tasks/isaacgym/ase/humanoid_view_motion.py
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sparkmind/learning/RL/tasks/isaacgym/hotu/__init__.py
sparkmind/learning/RL/tasks/isaacgym/hotu/humanoid.py
sparkmind/learning/RL/tasks/isaacgym/hotu/humanoid_hotu.py
sparkmind/learning/RL/tasks/isaacgym/hotu/humanoid_hotu_getup.py
sparkmind/learning/RL/tasks/isaacgym/hotu/humanoid_hotu_heading.py
sparkmind/learning/RL/tasks/isaacgym/hotu/humanoid_hotu_hoi.py
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sparkmind/learning/RL/tasks/isaacgym/hotu/humanoid_hotu_task.py
sparkmind/learning/RL/tasks/isaacgym/hotu/humanoid_view_motion.py
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sparkmind/learning/RL/tasks/isaacgym/hotu_wdf/humanoid_hotu_wdf_getup.py
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sparkmind/learning/RL/tasks/isaacgym/hotu_wdf/motion_lib.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/__init__.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/humanoid.py
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sparkmind/learning/RL/tasks/isaacgym/humangpt/humanoid_amp_getup.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/humanoid_amp_task.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/humanoid_im.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/humanoid_im_demo.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/humanoid_im_getup.py
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sparkmind/learning/RL/tasks/isaacgym/humangpt/motiongen_seq.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/motiongen_t2m.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/motiongen_task.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/motion_generator/data_loaders/get_data.py
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sparkmind/learning/RL/tasks/isaacgym/humangpt/motion_generator/data_loaders/humanml/data/dataset.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/motion_generator/data_loaders/humanml/motion_loaders/__init__.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/motion_generator/data_loaders/humanml/motion_loaders/comp_v6_model_dataset.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/motion_generator/data_loaders/humanml/motion_loaders/dataset_motion_loader.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/motion_generator/data_loaders/humanml/motion_loaders/model_motion_loaders.py
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sparkmind/learning/RL/tasks/isaacgym/humangpt/motion_generator/data_loaders/humanml/networks/evaluator_wrapper.py
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sparkmind/learning/RL/tasks/isaacgym/humangpt/motion_generator/data_loaders/humanml/utils/paramUtil.py
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sparkmind/learning/RL/tasks/isaacgym/humangpt/motion_generator/sample/edit.py
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sparkmind/learning/RL/tasks/isaacgym/humangpt/motion_generator/sample/predict.py
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sparkmind/learning/RL/tasks/isaacgym/humangpt/utils/__init__.py
sparkmind/learning/RL/tasks/isaacgym/humangpt/utils/benchmarking.py
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