vla-corrector
a lightweight detect-and-correction inference for vla
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- run_video_benchmark.py
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- style.css
- method_overview.png
- method_overview.webp
- qualitative_recovery.png
- qualitative_recovery.webp
- results_pareto.png
- results_pareto.webp
- teaser_open_loop_vs_closed_loop.png
- teaser_open_loop_vs_closed_loop.webp
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- truncation_phase_analysis.webp
- main.js
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- blue_bowl.jpg
- drawer_alignment.jpg
- white_bowl.jpg
- vla_corrector_presentation.pdf
- vla_corrector_presentation.pptx
- block_to_blue_bowl_perturbation.mp4
- block_to_white_bowl_perturbation.mp4
- drawer_alignment_perturbation.mp4
- .nojekyll
- index.html
- index_zh.html
- presentation.html
- siglip_dynamics_multi_backend.md
- siglip_dynamics_train_split_sweep.md
- replay.py
- load_lerobot_dataset.py
- slurm_compute_rabc.py
- use_dataset_image_transforms.py
- use_dataset_tools.py
- evaluate.py
- record.py
- replay.py
- teleoperate.py
- evaluate.py
- record.py
- replay.py
- teleoperate.py
- display_error_files.py
- port_droid.py
- slurm_aggregate_shards.py
- slurm_port_shards.py
- slurm_upload.py
- eval_dataset.py
- eval_with_real_robot.py
- evaluate.py
- record.py
- replay.py
- teleoperate.py
- train_policy.py
- train_with_streaming.py
- act_training_example.py
- act_using_example.py
- policy_server.py
- robot_client.py
- diffusion_training_example.py
- diffusion_using_example.py
- using_pi0_example.py
- hilserl_example.py
- reward_classifier_example.py
- using_smolvla_example.py
- create_presentation.py
- press_release_zh.md
- configs.py
- constants.py
- helpers.py
- policy_server.py
- robot_client.py
- __init__.py
- camera_opencv.py
- configuration_opencv.py
- __init__.py
- configuration_reachy2_camera.py
- reachy2_camera.py
- __init__.py
- camera_realsense.py
- configuration_realsense.py
- __init__.py
- camera_zmq.py
- configuration_zmq.py
- image_server.py
- __init__.py
- camera.py
- configs.py
- utils.py
- default.py
- eval.py
- parser.py
- policies.py
- train.py
- types.py
- __init__.py
- subtask_annotation.py
- __init__.py
- __init__.py
- aggregate.py
- card_template.md
- compute_stats.py
- dataset_metadata.py
- dataset_reader.py
- dataset_tools.py
- dataset_writer.py
- factory.py
- feature_utils.py
- image_writer.py
- io_utils.py
- lerobot_dataset.py
- multi_dataset.py
- pipeline_features.py
- sampler.py
- streaming_dataset.py
- transforms.py
- utils.py
- video_utils.py
- __init__.py
- configs.py
- factory.py
- libero.py
- metaworld.py
- metaworld_config.json
- utils.py
- kinematics.py
- __init__.py
- damiao.py
- tables.py
- __init__.py
- dynamixel.py
- tables.py
- __init__.py
- feetech.py
- tables.py
- __init__.py
- robstride.py
- tables.py
- __init__.py
- calibration_gui.py
- encoding_utils.py
- motors_bus.py
- __init__.py
- factory.py
- optimizers.py
- schedulers.py
- configuration_act.py
- modeling_act.py
- processor_act.py
- README.md
- configuration_diffusion.py
- modeling_diffusion.py
- processor_diffusion.py
- README.md
- __init__.py
- action_encoder.py
- cross_attention_dit.py
- flow_matching_action_head.py
- configuration_eagle2_5_vl.py
- image_processing_eagle2_5_vl_fast.py
- modeling_eagle2_5_vl.py
- processing_eagle2_5_vl.py
- __init__.py
- configuration_groot.py
- groot_n1.py
- modeling_groot.py
- processor_groot.py
- README.md
- utils.py
- __init__.py
- configuration_multi_task_dit.py
- modeling_multi_task_dit.py
- processor_multi_task_dit.py
- README.md
- __init__.py
- configuration_pi0.py
- modeling_pi0.py
- processor_pi0.py
- README.md
- __init__.py
- configuration_pi05.py
- modeling_pi05.py
- processor_pi05.py
- README.md
- __init__.py
- configuration_pi05_modified.py
- modeling_pi05_modified.py
- __init__.py
- configuration_pi0_fast.py
- modeling_pi0_fast.py
- processor_pi0_fast.py
- action_queue.py
- configuration_rtc.py
- debug_tracker.py
- debug_visualizer.py
- latency_tracker.py
- modeling_rtc.py
- README.md
- configuration_classifier.py
- modeling_classifier.py
- processor_classifier.py
- configuration_sac.py
- modeling_sac.py
- processor_sac.py
- compute_rabc_weights.py
- configuration_sarm.py
- modeling_sarm.py
- processor_sarm.py
- README.md
- sarm_utils.py
- configuration_smolvla.py
- modeling_smolvla.py
- processor_smolvla.py
- README.md
- smolvlm_with_expert.py
- __init__.py
- configuration_smolvla_modified.py
- modeling_smolvla_modified.py
- configuration_tdmpc.py
- modeling_tdmpc.py
- processor_tdmpc.py
- README.md
- configuration_vqbet.py
- modeling_vqbet.py
- processor_vqbet.py
- README.md
- vqbet_utils.py
- configuration_qwen2_5_vl.py
- qwen2_5_vl_moe.py
- __init__.py
- configuration_wall_x.py
- constant.py
- modeling_wall_x.py
- processor_wall_x.py
- README.md
- utils.py
- __init__.py
- action_hub.py
- configuration_florence2.py
- configuration_xvla.py
- modeling_florence2.py
- modeling_xvla.py
- processor_xvla.py
- soft_transformer.py
- utils.py
- __init__.py
- configuration_xvla_modified.py
- modeling_xvla_modified.py
- __init__.py
- factory.py
- pi_gemma.py
- pretrained.py
- utils.py
- __init__.py
- batch_processor.py
- converters.py
- delta_action_processor.py
- device_processor.py
- env_processor.py
- factory.py
- gym_action_processor.py
- hil_processor.py
- migrate_policy_normalization.py
- normalize_processor.py
- observation_processor.py
- pipeline.py
- policy_robot_bridge.py
- rename_processor.py
- tokenizer_processor.py
- actor.py
- buffer.py
- crop_dataset_roi.py
- eval_policy.py
- gym_manipulator.py
- joint_observations_processor.py
- learner.py
- learner_service.py
- process.py
- queue.py
- wandb_utils.py
- __init__.py
- bi_openarm_follower.py
- config_bi_openarm_follower.py
- __init__.py
- bi_so_follower.py
- config_bi_so_follower.py
- __init__.py
- config_earthrover_mini_plus.py
- earthrover_mini_plus.mdx
- robot_earthrover_mini_plus.py
- __init__.py
- config_hope_jr.py
- hope_jr.mdx
- hope_jr_arm.py
- hope_jr_hand.py
- __init__.py
- config_koch_follower.py
- koch.mdx
- koch_follower.py
- __init__.py
- config_lekiwi.py
- lekiwi.mdx
- lekiwi.py
- lekiwi_client.py
- lekiwi_host.py
- __init__.py
- config_omx_follower.py
- omx_follower.py
- __init__.py
- config_openarm_follower.py
- openarm_follower.py
- __init__.py
- configuration_reachy2.py
- robot_reachy2.py
- __init__.py
- config_so_follower.py
- robot_kinematic_processor.py
- so100.md
- so101.md
- so_follower.py
- __init__.py
- config_unitree_g1.py
- g1_kinematics.py
- g1_utils.py
- gr00t_locomotion.py
- holosoma_locomotion.py
- run_g1_server.py
- unitree_g1.py
- unitree_sdk2_socket.py
- __init__.py
- config.py
- robot.py
- utils.py
- __init__.py
- siglip_dynamics_mlp.py
- augment_dataset_quantile_stats.py
- convert_dataset_v21_to_v30.py
- lerobot_calibrate.py
- lerobot_dataset_viz.py
- lerobot_edit_dataset.py
- lerobot_eval.py
- lerobot_eval_modified_detection.py
- lerobot_find_cameras.py
- lerobot_find_joint_limits.py
- lerobot_find_port.py
- lerobot_imgtransform_viz.py
- lerobot_info.py
- lerobot_record.py
- lerobot_replay.py
- lerobot_setup_can.py
- lerobot_setup_motors.py
- lerobot_teleoperate.py
- lerobot_train.py
- lerobot_train_tokenizer.py
- __init__.py
- bi_openarm_leader.py
- config_bi_openarm_leader.py
- __init__.py
- bi_so_leader.py
- config_bi_so_leader.py
- __init__.py
- configuration_gamepad.py
- gamepad_utils.py
- teleop_gamepad.py
- __init__.py
- config_homunculus.py
- homunculus_arm.py
- homunculus_glove.py
- joints_translation.py
- __init__.py
- configuration_keyboard.py
- teleop_keyboard.py
- __init__.py
- config_koch_leader.py
- koch_leader.py
- __init__.py
- config_omx_leader.py
- omx_leader.py
- __init__.py
- config_openarm_leader.py
- openarm_leader.py
- __init__.py
- config_openarm_mini.py
- openarm_mini.py
- __init__.py
- config_phone.py
- phone_processor.py
- teleop_phone.py
- __init__.py
- config_reachy2_teleoperator.py
- reachy2_teleoperator.py
- __init__.py
- config_so_leader.py
- so100.md
- so101.md
- so_leader.py
- __init__.py
- config_unitree_g1.py
- exo_calib.py
- exo_ik.py
- exo_serial.py
- unitree_g1.py
- __init__.py
- config.py
- teleoperator.py
- utils.py
- lerobot_modelcard_template.md
- services.proto
- services_pb2.py
- services_pb2_grpc.py
- utils.py
- constants.py
- control_utils.py
- decorators.py
- device_utils.py
- errors.py
- hub.py
- import_utils.py
- io_utils.py
- logging_utils.py
- rabc.py
- random_utils.py
- robot_utils.py
- rotation.py
- train_utils.py
- transition.py
- utils.py
- visualization_utils.py
- __init__.py
- __version__.py
- types.py
- __init__.py
- analysis_logger.py
- circuit_breaker.py
- guidance_injector.py
- safety_module.py
- __init__.py
- compare_sweep_tsne.py
- config.py
- dataset.py
- dit_transformer.py
- extract.py
- MLP.py
- train.py
- train_split_sweep.py
- transformer.py
- verify_extraction.py
- test_e2e.py
- test_helpers.py
- test_policy_server.py
- test_robot_client.py
- test_opencv.py
- test_reachy2_camera.py
- test_realsense.py
- test_default.py
- test_plugin_loading.py
- test_aggregate.py
- test_compute_stats.py
- test_dataset_metadata.py
- test_dataset_reader.py
- test_dataset_tools.py
- test_dataset_utils.py
- test_dataset_writer.py
- test_datasets.py
- test_delta_timestamps.py
- test_image_transforms.py
- test_image_writer.py
- test_lerobot_dataset.py
- test_quantiles_dataset_integration.py
- test_sampler.py
- test_streaming.py
- test_streaming_video_encoder.py
- test_subtask_dataset.py
- test_visualize_dataset.py
- test_envs.py
- constants.py
- dataset_factories.py
- files.py
- hub.py
- optimizers.py
- mock_dynamixel.py
- mock_feetech.py
- mock_motors_bus.py
- mock_robot.py
- mock_serial_patch.py
- mock_teleop.py
- test_damiao.py
- test_dynamixel.py
- test_feetech.py
- test_motors_bus.py
- test_optimizers.py
- test_schedulers.py
- test_groot_lerobot.py
- test_groot_vs_original.py
- test_modeling_classifier.py
- test_multi_task_dit.py
- test_pi0_fast_original_vs_lerobot.py
- test_pi0.py
- test_pi05.py
- test_pi05_original_vs_lerobot.py
- test_pi05_rtc.py
- test_pi0_original_vs_lerobot.py
- test_pi0_rtc.py
- test_action_queue.py
- test_configuration_rtc.py
- test_debug_tracker.py
- test_latency_tracker.py
- test_modeling_rtc.py
- test_smolvla_rtc.py
- test_wallx.py
- test_xvla_original_vs_lerobot.py
- test_policies.py
- test_sac_config.py
- test_sac_policy.py
- test_sarm_processor.py
- test_sarm_subtask_annotations.py
- test_sarm_utils.py
- test_act_processor.py
- test_batch_conversion.py
- test_batch_processor.py
- test_classifier_processor.py
- test_converters.py
- test_device_processor.py
- test_diffusion_processor.py
- test_libero_processor.py
- test_migration_detection.py
- test_normalize_processor.py
- test_observation_processor.py
- test_pipeline.py
- test_pipeline_from_pretrained_helpers.py
- test_policy_robot_bridge.py
- test_rename_processor.py
- test_sac_processor.py
- test_smolvla_processor.py
- test_tdmpc_processor.py
- test_tokenizer_processor.py
- test_vqbet_processor.py
- test_actor.py
- test_actor_learner.py
- test_learner_service.py
- test_queue.py
- test_reachy2.py
- test_so100_follower.py
- test_unitree_g1.py
- test_edit_dataset_parsing.py
- test_reachy2_teleoperator.py
- test_unitree_g1_teleoperator.py
- test_multi_gpu.py
- test_visual_validation.py
- test_transport_utils.py
- test_encoding_utils.py
- test_io_utils.py
- test_logging_utils.py
- test_process.py
- test_random_utils.py
- test_replay_buffer.py
- test_train_utils.py
- test_visualization_utils.py
- __init__.py
- conftest.py
- test_available.py
- test_cli_peft.py
- test_control_robot.py
- utils.py
- .dockerignore
- .gitattributes
- .gitignore
- .pre-commit-config.yaml
- AI_POLICY.md
- CODE_OF_CONDUCT.md
- CONTRIBUTING.md
- docs-requirements.txt
- environment.yml
- LICENSE
- Makefile
- MANIFEST.in
- paper_summary_for_readme.md
- pyproject.toml
- README.md
- README_zh.md
- requirements-macos.txt
- requirements-ubuntu.txt
- requirements.in
- requirements.txt
- SECURITY.md
- setup.py
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