- Create single pyproject.toml
- Refactor configs
- Parallelise 2d dataset
- Simplify unet
- Fix value unet
- Make classifier policy
- Add data viz script
- Simplify command manager
- Add IK solver
- Simplify classifier policy
- Make classifier mlp
- Batch classifier training
- Simplify classifier runner
- Fix jit tracing
- simplify normalizer
- Remove RL code
- Refactor env cfgs
- Add IK goals and init
- Tune performance
- Make vis class
-
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Trajectory planning with flow matching models
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