├── .devcontainer ├── devcontainer.json └── setup-container.sh ├── .github └── workflows │ ├── ruff.yml │ └── tests.yml ├── .gitignore ├── .python-version ├── Dockerfile ├── LICENSE ├── README.md ├── baselines ├── isac.py └── xppo.py ├── images ├── batched_string_grid_1.svg ├── batched_string_grid_3.svg ├── caves_cont_2.svg ├── caves_cont_9.svg ├── labmaze_grid_0.svg ├── labmaze_grid_3.svg ├── movingai_0.svg ├── movingai_3.svg ├── random_grid_1.svg ├── random_grid_2.svg ├── render.py ├── string_grid_1.svg ├── string_grid_2.svg └── string_grid_camar.svg ├── protocols ├── README.md └── easy-medium │ ├── labmaze_grid_h21_w21_a32_r4-9_c0.4.yaml │ ├── labmaze_grid_h21_w21_a32_r4-9_c0.65.yaml │ ├── labmaze_grid_h21_w21_a32_r4-9_c1.0.yaml │ ├── labmaze_grid_h21_w21_a8_r4-9_c0.4.yaml │ ├── labmaze_grid_h21_w21_a8_r4-9_c0.65.yaml │ ├── labmaze_grid_h21_w21_a8_r4-9_c1.0.yaml │ ├── random_grid_h20_w20_a32_o0.yaml │ ├── random_grid_h20_w20_a32_o20.yaml │ ├── random_grid_h20_w20_a32_o60.yaml │ ├── random_grid_h20_w20_a8_o0.yaml │ ├── random_grid_h20_w20_a8_o20.yaml │ └── random_grid_h20_w20_a8_o60.yaml ├── pyproject.toml ├── rrt.py ├── rrt_star.py ├── rrt_star_wrapper.py ├── rrt_wrapper.py ├── src └── camar │ ├── __init__.py │ ├── dynamics │ ├── __init__.py │ ├── base.py │ ├── diffdrive.py │ ├── holonomic.py │ └── mixed.py │ ├── environment.py │ ├── integrations │ ├── __init__.py │ └── torchrl.py │ ├── make_env.py │ ├── maps │ ├── __init__.py │ ├── base.py │ ├── batched_string_grid.py │ ├── caves_cont.py │ ├── const.py │ ├── labmaze_grid.py │ ├── movingai.py │ ├── random_grid.py │ ├── string_grid.py │ └── utils.py │ ├── registry.py │ ├── render │ ├── __init__.py │ ├── const.py │ ├── matplotlib.py │ ├── svg.py │ └── utils.py │ ├── utils.py │ └── wrappers │ ├── __init__.py │ ├── base.py │ ├── craftax.py │ └── metrics.py ├── tests ├── dummy_map.py ├── dynamics │ ├── test_diffdrive.py │ ├── test_holonomic.py │ └── test_mixed.py ├── maps │ ├── test_batched_string_grid.py │ ├── test_caves_cont.py │ ├── test_labmaze_grid.py │ ├── test_movingai.py │ ├── test_random_grid.py │ └── test_string_grid.py ├── test_environment.py ├── test_make_env.py ├── test_readme.py ├── test_registry.py └── test_utils.py └── uv.lock /.devcontainer/devcontainer.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/.devcontainer/devcontainer.json -------------------------------------------------------------------------------- /.devcontainer/setup-container.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/.devcontainer/setup-container.sh -------------------------------------------------------------------------------- /.github/workflows/ruff.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/.github/workflows/ruff.yml -------------------------------------------------------------------------------- /.github/workflows/tests.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/.github/workflows/tests.yml -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/.gitignore -------------------------------------------------------------------------------- /.python-version: -------------------------------------------------------------------------------- 1 | 3.10 2 | -------------------------------------------------------------------------------- /Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/Dockerfile -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/README.md -------------------------------------------------------------------------------- /baselines/isac.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/baselines/isac.py -------------------------------------------------------------------------------- /baselines/xppo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/baselines/xppo.py -------------------------------------------------------------------------------- /images/batched_string_grid_1.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/batched_string_grid_1.svg -------------------------------------------------------------------------------- /images/batched_string_grid_3.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/batched_string_grid_3.svg -------------------------------------------------------------------------------- /images/caves_cont_2.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/caves_cont_2.svg -------------------------------------------------------------------------------- /images/caves_cont_9.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/caves_cont_9.svg -------------------------------------------------------------------------------- /images/labmaze_grid_0.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/labmaze_grid_0.svg -------------------------------------------------------------------------------- /images/labmaze_grid_3.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/labmaze_grid_3.svg -------------------------------------------------------------------------------- /images/movingai_0.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/movingai_0.svg -------------------------------------------------------------------------------- /images/movingai_3.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/movingai_3.svg -------------------------------------------------------------------------------- /images/random_grid_1.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/random_grid_1.svg -------------------------------------------------------------------------------- /images/random_grid_2.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/random_grid_2.svg -------------------------------------------------------------------------------- /images/render.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/render.py -------------------------------------------------------------------------------- /images/string_grid_1.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/string_grid_1.svg -------------------------------------------------------------------------------- /images/string_grid_2.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/string_grid_2.svg -------------------------------------------------------------------------------- /images/string_grid_camar.svg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/images/string_grid_camar.svg -------------------------------------------------------------------------------- /protocols/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/README.md -------------------------------------------------------------------------------- /protocols/easy-medium/labmaze_grid_h21_w21_a32_r4-9_c0.4.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/labmaze_grid_h21_w21_a32_r4-9_c0.4.yaml -------------------------------------------------------------------------------- /protocols/easy-medium/labmaze_grid_h21_w21_a32_r4-9_c0.65.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/labmaze_grid_h21_w21_a32_r4-9_c0.65.yaml -------------------------------------------------------------------------------- /protocols/easy-medium/labmaze_grid_h21_w21_a32_r4-9_c1.0.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/labmaze_grid_h21_w21_a32_r4-9_c1.0.yaml -------------------------------------------------------------------------------- /protocols/easy-medium/labmaze_grid_h21_w21_a8_r4-9_c0.4.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/labmaze_grid_h21_w21_a8_r4-9_c0.4.yaml -------------------------------------------------------------------------------- /protocols/easy-medium/labmaze_grid_h21_w21_a8_r4-9_c0.65.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/labmaze_grid_h21_w21_a8_r4-9_c0.65.yaml -------------------------------------------------------------------------------- /protocols/easy-medium/labmaze_grid_h21_w21_a8_r4-9_c1.0.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/labmaze_grid_h21_w21_a8_r4-9_c1.0.yaml -------------------------------------------------------------------------------- /protocols/easy-medium/random_grid_h20_w20_a32_o0.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/random_grid_h20_w20_a32_o0.yaml -------------------------------------------------------------------------------- /protocols/easy-medium/random_grid_h20_w20_a32_o20.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/random_grid_h20_w20_a32_o20.yaml -------------------------------------------------------------------------------- /protocols/easy-medium/random_grid_h20_w20_a32_o60.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/random_grid_h20_w20_a32_o60.yaml -------------------------------------------------------------------------------- /protocols/easy-medium/random_grid_h20_w20_a8_o0.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/random_grid_h20_w20_a8_o0.yaml -------------------------------------------------------------------------------- /protocols/easy-medium/random_grid_h20_w20_a8_o20.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/random_grid_h20_w20_a8_o20.yaml -------------------------------------------------------------------------------- /protocols/easy-medium/random_grid_h20_w20_a8_o60.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/protocols/easy-medium/random_grid_h20_w20_a8_o60.yaml -------------------------------------------------------------------------------- /pyproject.toml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/pyproject.toml -------------------------------------------------------------------------------- /rrt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/rrt.py -------------------------------------------------------------------------------- /rrt_star.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/rrt_star.py -------------------------------------------------------------------------------- /rrt_star_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/rrt_star_wrapper.py -------------------------------------------------------------------------------- /rrt_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/rrt_wrapper.py -------------------------------------------------------------------------------- /src/camar/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/__init__.py -------------------------------------------------------------------------------- /src/camar/dynamics/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/dynamics/__init__.py -------------------------------------------------------------------------------- /src/camar/dynamics/base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/dynamics/base.py -------------------------------------------------------------------------------- /src/camar/dynamics/diffdrive.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/dynamics/diffdrive.py -------------------------------------------------------------------------------- /src/camar/dynamics/holonomic.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/dynamics/holonomic.py -------------------------------------------------------------------------------- /src/camar/dynamics/mixed.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/dynamics/mixed.py -------------------------------------------------------------------------------- /src/camar/environment.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/environment.py -------------------------------------------------------------------------------- /src/camar/integrations/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/integrations/__init__.py -------------------------------------------------------------------------------- /src/camar/integrations/torchrl.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/integrations/torchrl.py -------------------------------------------------------------------------------- /src/camar/make_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/make_env.py -------------------------------------------------------------------------------- /src/camar/maps/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/maps/__init__.py -------------------------------------------------------------------------------- /src/camar/maps/base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/maps/base.py -------------------------------------------------------------------------------- /src/camar/maps/batched_string_grid.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/maps/batched_string_grid.py -------------------------------------------------------------------------------- /src/camar/maps/caves_cont.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/maps/caves_cont.py -------------------------------------------------------------------------------- /src/camar/maps/const.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/maps/const.py -------------------------------------------------------------------------------- /src/camar/maps/labmaze_grid.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/maps/labmaze_grid.py -------------------------------------------------------------------------------- /src/camar/maps/movingai.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/maps/movingai.py -------------------------------------------------------------------------------- /src/camar/maps/random_grid.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/maps/random_grid.py -------------------------------------------------------------------------------- /src/camar/maps/string_grid.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/maps/string_grid.py -------------------------------------------------------------------------------- /src/camar/maps/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/maps/utils.py -------------------------------------------------------------------------------- /src/camar/registry.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/registry.py -------------------------------------------------------------------------------- /src/camar/render/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/render/__init__.py -------------------------------------------------------------------------------- /src/camar/render/const.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/render/const.py -------------------------------------------------------------------------------- /src/camar/render/matplotlib.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/render/matplotlib.py -------------------------------------------------------------------------------- /src/camar/render/svg.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/render/svg.py -------------------------------------------------------------------------------- /src/camar/render/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/render/utils.py -------------------------------------------------------------------------------- /src/camar/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/utils.py -------------------------------------------------------------------------------- /src/camar/wrappers/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/wrappers/__init__.py -------------------------------------------------------------------------------- /src/camar/wrappers/base.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/wrappers/base.py -------------------------------------------------------------------------------- /src/camar/wrappers/craftax.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/wrappers/craftax.py -------------------------------------------------------------------------------- /src/camar/wrappers/metrics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/src/camar/wrappers/metrics.py -------------------------------------------------------------------------------- /tests/dummy_map.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/dummy_map.py -------------------------------------------------------------------------------- /tests/dynamics/test_diffdrive.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/dynamics/test_diffdrive.py -------------------------------------------------------------------------------- /tests/dynamics/test_holonomic.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/dynamics/test_holonomic.py -------------------------------------------------------------------------------- /tests/dynamics/test_mixed.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/dynamics/test_mixed.py -------------------------------------------------------------------------------- /tests/maps/test_batched_string_grid.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/maps/test_batched_string_grid.py -------------------------------------------------------------------------------- /tests/maps/test_caves_cont.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/maps/test_caves_cont.py -------------------------------------------------------------------------------- /tests/maps/test_labmaze_grid.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/maps/test_labmaze_grid.py -------------------------------------------------------------------------------- /tests/maps/test_movingai.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/maps/test_movingai.py -------------------------------------------------------------------------------- /tests/maps/test_random_grid.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/maps/test_random_grid.py -------------------------------------------------------------------------------- /tests/maps/test_string_grid.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/maps/test_string_grid.py -------------------------------------------------------------------------------- /tests/test_environment.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/test_environment.py -------------------------------------------------------------------------------- /tests/test_make_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/test_make_env.py -------------------------------------------------------------------------------- /tests/test_readme.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/test_readme.py -------------------------------------------------------------------------------- /tests/test_registry.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/test_registry.py -------------------------------------------------------------------------------- /tests/test_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/tests/test_utils.py -------------------------------------------------------------------------------- /uv.lock: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AIRI-Institute/CAMAR/HEAD/uv.lock --------------------------------------------------------------------------------