├── .gitignore ├── LICENSE ├── README.md ├── agent ├── base.py ├── disco.py └── perceiver.py ├── data ├── download_data.sh └── splits │ └── oct21.json ├── datasets ├── affordance_dataset.py ├── depth_dataset.py ├── fineaction_dataset.py └── segmentation_dataset.py ├── env ├── __init__.py ├── reward.py ├── tasks.py └── thor_env.py ├── evaluate.py ├── gen ├── README.md ├── __init__.py ├── agents │ ├── agent_base.py │ ├── deterministic_planner_agent.py │ ├── plan_agent.py │ └── semantic_map_planner_agent.py ├── constants.py ├── ff_planner │ ├── README.md │ ├── expressions.c │ ├── expressions.h │ ├── ff.h │ ├── inst_easy.c │ ├── inst_easy.h │ ├── inst_final.c │ ├── inst_final.h │ ├── inst_hard.c │ ├── inst_hard.h │ ├── inst_pre.c │ ├── inst_pre.h │ ├── lex-fct_pddl.l │ ├── lex-ops_pddl.l │ ├── main.c │ ├── makefile │ ├── memory.c │ ├── memory.h │ ├── output.c │ ├── output.h │ ├── parse.c │ ├── parse.h │ ├── relax.c │ ├── relax.h │ ├── run_sample.sh │ ├── samples │ │ ├── PutTask_domain.pddl │ │ └── problem_0_0.pddl │ ├── scan-fct_pddl.y │ ├── scan-ops_pddl.y │ ├── search.c │ └── search.h ├── game_states │ ├── __init__.py │ ├── game_state_base.py │ ├── planned_game_state.py │ ├── task_game_state.py │ └── task_game_state_full_knowledge.py ├── goal_library.py ├── graph │ ├── __init__.py │ └── graph_obj.py ├── layouts │ ├── FloorPlan1-layout.npy │ ├── FloorPlan1-objects.json │ ├── FloorPlan1-openable.json │ ├── FloorPlan10-layout.npy │ ├── FloorPlan10-objects.json │ ├── FloorPlan10-openable.json │ ├── FloorPlan11-layout.npy │ ├── FloorPlan11-objects.json │ ├── FloorPlan11-openable.json │ ├── FloorPlan12-layout.npy │ ├── FloorPlan12-objects.json │ ├── FloorPlan12-openable.json │ ├── FloorPlan13-layout.npy │ ├── FloorPlan13-objects.json │ ├── FloorPlan13-openable.json │ ├── FloorPlan14-layout.npy │ ├── FloorPlan14-objects.json │ ├── FloorPlan14-openable.json │ ├── FloorPlan15-layout.npy │ ├── FloorPlan15-objects.json │ ├── FloorPlan15-openable.json │ ├── FloorPlan16-layout.npy │ ├── FloorPlan16-objects.json │ ├── FloorPlan16-openable.json │ ├── FloorPlan17-layout.npy │ ├── FloorPlan17-objects.json │ ├── FloorPlan17-openable.json │ ├── FloorPlan18-layout.npy │ ├── FloorPlan18-objects.json │ ├── FloorPlan18-openable.json │ ├── FloorPlan19-layout.npy │ ├── FloorPlan19-objects.json │ ├── FloorPlan19-openable.json │ ├── FloorPlan2-layout.npy │ ├── FloorPlan2-objects.json │ ├── FloorPlan2-openable.json │ ├── FloorPlan20-layout.npy │ ├── FloorPlan20-objects.json │ ├── FloorPlan20-openable.json │ ├── FloorPlan201-layout.npy │ ├── FloorPlan201-objects.json │ ├── FloorPlan201-openable.json │ ├── FloorPlan202-layout.npy │ ├── FloorPlan202-objects.json │ ├── FloorPlan202-openable.json │ ├── FloorPlan203-layout.npy │ ├── FloorPlan203-objects.json │ ├── FloorPlan203-openable.json │ ├── FloorPlan204-layout.npy │ ├── FloorPlan204-objects.json │ ├── FloorPlan204-openable.json │ ├── FloorPlan205-layout.npy │ ├── FloorPlan205-objects.json │ ├── FloorPlan205-openable.json │ ├── FloorPlan206-layout.npy │ ├── FloorPlan206-objects.json │ ├── FloorPlan206-openable.json │ ├── FloorPlan207-layout.npy │ ├── FloorPlan207-objects.json │ ├── FloorPlan207-openable.json │ ├── FloorPlan208-layout.npy │ ├── FloorPlan208-objects.json │ ├── FloorPlan208-openable.json │ ├── FloorPlan209-layout.npy │ ├── FloorPlan209-objects.json │ ├── FloorPlan209-openable.json │ ├── FloorPlan21-layout.npy │ ├── FloorPlan21-objects.json │ ├── FloorPlan21-openable.json │ ├── FloorPlan210-layout.npy │ ├── FloorPlan210-objects.json │ ├── FloorPlan210-openable.json │ ├── FloorPlan211-layout.npy │ ├── FloorPlan211-objects.json │ ├── FloorPlan211-openable.json │ ├── FloorPlan212-layout.npy │ ├── FloorPlan212-objects.json │ ├── FloorPlan212-openable.json │ ├── FloorPlan213-layout.npy │ ├── FloorPlan213-objects.json │ ├── FloorPlan213-openable.json │ ├── FloorPlan214-layout.npy │ ├── FloorPlan214-objects.json │ ├── FloorPlan214-openable.json │ ├── FloorPlan215-layout.npy │ ├── FloorPlan215-objects.json │ ├── FloorPlan215-openable.json │ ├── FloorPlan216-layout.npy │ ├── FloorPlan216-objects.json │ ├── FloorPlan216-openable.json │ ├── FloorPlan217-layout.npy │ ├── FloorPlan217-objects.json │ ├── FloorPlan217-openable.json │ ├── FloorPlan218-layout.npy │ ├── FloorPlan218-objects.json │ ├── FloorPlan218-openable.json │ ├── FloorPlan219-layout.npy │ ├── FloorPlan219-objects.json │ ├── FloorPlan219-openable.json │ ├── FloorPlan22-layout.npy │ ├── FloorPlan22-objects.json │ ├── FloorPlan22-openable.json │ ├── FloorPlan220-layout.npy │ ├── FloorPlan220-objects.json │ ├── FloorPlan220-openable.json │ ├── FloorPlan221-layout.npy │ ├── FloorPlan221-objects.json │ ├── FloorPlan221-openable.json │ ├── FloorPlan222-layout.npy │ ├── FloorPlan222-objects.json │ ├── FloorPlan222-openable.json │ ├── FloorPlan223-layout.npy │ ├── FloorPlan223-objects.json │ ├── FloorPlan223-openable.json │ ├── FloorPlan224-layout.npy │ ├── FloorPlan224-objects.json │ ├── FloorPlan224-openable.json │ ├── FloorPlan225-layout.npy │ ├── FloorPlan225-objects.json │ ├── FloorPlan225-openable.json │ ├── FloorPlan226-layout.npy │ ├── FloorPlan226-objects.json │ ├── FloorPlan226-openable.json │ ├── FloorPlan227-layout.npy │ ├── FloorPlan227-objects.json │ ├── FloorPlan227-openable.json │ ├── FloorPlan228-layout.npy │ ├── FloorPlan228-objects.json │ ├── FloorPlan228-openable.json │ ├── FloorPlan229-layout.npy │ ├── FloorPlan229-objects.json │ ├── FloorPlan229-openable.json │ ├── FloorPlan23-layout.npy │ ├── FloorPlan23-objects.json │ ├── FloorPlan23-openable.json │ ├── FloorPlan230-layout.npy │ ├── FloorPlan230-objects.json │ ├── FloorPlan230-openable.json │ ├── FloorPlan24-layout.npy │ ├── FloorPlan24-objects.json │ ├── FloorPlan24-openable.json │ ├── FloorPlan25-layout.npy │ ├── FloorPlan25-objects.json │ ├── FloorPlan25-openable.json │ ├── FloorPlan26-layout.npy │ ├── FloorPlan26-objects.json │ ├── FloorPlan26-openable.json │ ├── FloorPlan27-layout.npy │ ├── FloorPlan27-objects.json │ ├── FloorPlan27-openable.json │ ├── FloorPlan28-layout.npy │ ├── FloorPlan28-objects.json │ ├── FloorPlan28-openable.json │ ├── FloorPlan29-layout.npy │ ├── FloorPlan29-objects.json │ ├── FloorPlan29-openable.json │ ├── FloorPlan3-layout.npy │ ├── FloorPlan3-objects.json │ ├── FloorPlan3-openable.json │ ├── FloorPlan30-layout.npy │ ├── FloorPlan30-objects.json │ ├── FloorPlan30-openable.json │ ├── FloorPlan301-layout.npy │ ├── FloorPlan301-objects.json │ ├── FloorPlan301-openable.json │ ├── FloorPlan302-layout.npy │ ├── FloorPlan302-objects.json │ ├── FloorPlan302-openable.json │ ├── FloorPlan303-layout.npy │ ├── FloorPlan303-objects.json │ ├── FloorPlan303-openable.json │ ├── FloorPlan304-layout.npy │ ├── FloorPlan304-objects.json │ ├── FloorPlan304-openable.json │ ├── FloorPlan305-layout.npy │ ├── FloorPlan305-objects.json │ ├── FloorPlan305-openable.json │ ├── FloorPlan306-layout.npy │ ├── FloorPlan306-objects.json │ ├── FloorPlan306-openable.json │ ├── FloorPlan307-layout.npy │ ├── FloorPlan307-objects.json │ ├── FloorPlan307-openable.json │ ├── FloorPlan308-layout.npy │ ├── FloorPlan308-objects.json │ ├── FloorPlan308-openable.json │ ├── FloorPlan309-layout.npy │ ├── FloorPlan309-objects.json │ ├── FloorPlan309-openable.json │ ├── FloorPlan310-layout.npy │ ├── FloorPlan310-objects.json │ ├── FloorPlan310-openable.json │ ├── FloorPlan311-layout.npy │ ├── FloorPlan311-objects.json │ ├── FloorPlan311-openable.json │ ├── FloorPlan312-layout.npy │ ├── FloorPlan312-objects.json │ ├── FloorPlan312-openable.json │ ├── FloorPlan313-layout.npy │ ├── FloorPlan313-objects.json │ ├── FloorPlan313-openable.json │ ├── FloorPlan314-layout.npy │ ├── FloorPlan314-objects.json │ ├── FloorPlan314-openable.json │ ├── FloorPlan315-layout.npy │ ├── FloorPlan315-objects.json │ ├── FloorPlan315-openable.json │ ├── FloorPlan316-layout.npy │ ├── FloorPlan316-objects.json │ ├── FloorPlan316-openable.json │ ├── FloorPlan317-layout.npy │ ├── FloorPlan317-objects.json │ ├── FloorPlan317-openable.json │ ├── FloorPlan318-layout.npy │ ├── FloorPlan318-objects.json │ ├── FloorPlan318-openable.json │ ├── FloorPlan319-layout.npy │ ├── FloorPlan319-objects.json │ ├── FloorPlan319-openable.json │ ├── FloorPlan320-layout.npy │ ├── FloorPlan320-objects.json │ ├── FloorPlan320-openable.json │ ├── FloorPlan321-layout.npy │ ├── FloorPlan321-objects.json │ ├── FloorPlan321-openable.json │ ├── FloorPlan322-layout.npy │ ├── FloorPlan322-objects.json │ ├── FloorPlan322-openable.json │ ├── FloorPlan323-layout.npy │ ├── FloorPlan323-objects.json │ ├── FloorPlan323-openable.json │ ├── FloorPlan324-layout.npy │ ├── FloorPlan324-objects.json │ ├── FloorPlan324-openable.json │ ├── FloorPlan325-layout.npy │ ├── FloorPlan325-objects.json │ ├── FloorPlan325-openable.json │ ├── FloorPlan326-layout.npy │ ├── FloorPlan326-objects.json │ ├── FloorPlan326-openable.json │ ├── FloorPlan327-layout.npy │ ├── FloorPlan327-objects.json │ ├── FloorPlan327-openable.json │ ├── FloorPlan328-layout.npy │ ├── FloorPlan328-objects.json │ ├── FloorPlan328-openable.json │ ├── FloorPlan329-layout.npy │ ├── FloorPlan329-objects.json │ ├── FloorPlan329-openable.json │ ├── FloorPlan330-layout.npy │ ├── FloorPlan330-objects.json │ ├── FloorPlan330-openable.json │ ├── FloorPlan4-layout.npy │ ├── FloorPlan4-objects.json │ ├── FloorPlan4-openable.json │ ├── FloorPlan401-layout.npy │ ├── FloorPlan401-objects.json │ ├── FloorPlan401-openable.json │ ├── FloorPlan402-layout.npy │ ├── FloorPlan402-objects.json │ ├── FloorPlan402-openable.json │ ├── FloorPlan403-layout.npy │ ├── FloorPlan403-objects.json │ ├── FloorPlan403-openable.json │ ├── FloorPlan404-layout.npy │ ├── FloorPlan404-objects.json │ ├── FloorPlan404-openable.json │ ├── FloorPlan405-layout.npy │ ├── FloorPlan405-objects.json │ ├── FloorPlan405-openable.json │ ├── FloorPlan406-layout.npy │ ├── FloorPlan406-objects.json │ ├── FloorPlan406-openable.json │ ├── FloorPlan407-layout.npy │ ├── FloorPlan407-objects.json │ ├── FloorPlan407-openable.json │ ├── FloorPlan408-layout.npy │ ├── FloorPlan408-objects.json │ ├── FloorPlan408-openable.json │ ├── FloorPlan409-layout.npy │ ├── FloorPlan409-objects.json │ ├── FloorPlan409-openable.json │ ├── FloorPlan410-layout.npy │ ├── FloorPlan410-objects.json │ ├── FloorPlan410-openable.json │ ├── FloorPlan411-layout.npy │ ├── FloorPlan411-objects.json │ ├── FloorPlan411-openable.json │ ├── FloorPlan412-layout.npy │ ├── FloorPlan412-objects.json │ ├── FloorPlan412-openable.json │ ├── FloorPlan413-layout.npy │ ├── FloorPlan413-objects.json │ ├── FloorPlan413-openable.json │ ├── FloorPlan414-layout.npy │ ├── FloorPlan414-objects.json │ ├── FloorPlan414-openable.json │ ├── FloorPlan415-layout.npy │ ├── FloorPlan415-objects.json │ ├── FloorPlan415-openable.json │ ├── FloorPlan416-layout.npy │ ├── FloorPlan416-objects.json │ ├── FloorPlan416-openable.json │ ├── FloorPlan417-layout.npy │ ├── FloorPlan417-objects.json │ ├── FloorPlan417-openable.json │ ├── FloorPlan418-layout.npy │ ├── FloorPlan418-objects.json │ ├── FloorPlan418-openable.json │ ├── FloorPlan419-layout.npy │ ├── FloorPlan419-objects.json │ ├── FloorPlan419-openable.json │ ├── FloorPlan420-layout.npy │ ├── FloorPlan420-objects.json │ ├── FloorPlan420-openable.json │ ├── FloorPlan421-layout.npy │ ├── FloorPlan421-objects.json │ ├── FloorPlan421-openable.json │ ├── FloorPlan422-layout.npy │ ├── FloorPlan422-objects.json │ ├── FloorPlan422-openable.json │ ├── FloorPlan423-layout.npy │ ├── FloorPlan423-objects.json │ ├── FloorPlan423-openable.json │ ├── FloorPlan424-layout.npy │ ├── FloorPlan424-objects.json │ ├── FloorPlan424-openable.json │ ├── FloorPlan425-layout.npy │ ├── FloorPlan425-objects.json │ ├── FloorPlan425-openable.json │ ├── FloorPlan426-layout.npy │ ├── FloorPlan426-objects.json │ ├── FloorPlan426-openable.json │ ├── FloorPlan427-layout.npy │ ├── FloorPlan427-objects.json │ ├── FloorPlan427-openable.json │ ├── FloorPlan428-layout.npy │ ├── FloorPlan428-objects.json │ ├── FloorPlan428-openable.json │ ├── FloorPlan429-layout.npy │ ├── FloorPlan429-objects.json │ ├── FloorPlan429-openable.json │ ├── FloorPlan430-layout.npy │ ├── FloorPlan430-objects.json │ ├── FloorPlan430-openable.json │ ├── FloorPlan5-layout.npy │ ├── FloorPlan5-objects.json │ ├── FloorPlan5-openable.json │ ├── FloorPlan6-layout.npy │ ├── FloorPlan6-objects.json │ ├── FloorPlan6-openable.json │ ├── FloorPlan7-layout.npy │ ├── FloorPlan7-objects.json │ ├── FloorPlan7-openable.json │ ├── FloorPlan8-layout.npy │ ├── FloorPlan8-objects.json │ ├── FloorPlan8-openable.json │ ├── FloorPlan9-layout.npy │ ├── FloorPlan9-objects.json │ ├── FloorPlan9-openable.json │ └── precompute_layout_locations.py ├── planner │ ├── __init__.py │ ├── domains │ │ └── PutTaskExtended_domain.pddl │ ├── ff_planner_handler.py │ └── pddl.pdf ├── scripts │ ├── augment_trajectories.py │ ├── generate_trajectories.py │ └── replay_checks.py └── utils │ ├── __init__.py │ ├── bb_util.py │ ├── dataset_management_util.py │ ├── game_util.py │ ├── image_util.py │ ├── py_util.py │ ├── replay_json.py │ └── video_util.py ├── models ├── affunet.py ├── depthunet.py ├── resnet_policy.py └── segmentation │ ├── maskrcnn │ ├── maskrcnn_dp_wrapper.py │ └── maskrcnn_film.py │ └── sam │ ├── sam_dp_wrapper.py │ ├── sam_wrapper.py │ ├── sam_wrapper_fix_sampling.py │ └── segment_anything │ ├── __init__.py │ ├── automatic_mask_generator.py │ ├── build_sam.py │ ├── modeling │ ├── __init__.py │ ├── common.py │ ├── image_encoder.py │ ├── mask_decoder.py │ ├── prompt_encoder.py │ ├── sam.py │ └── transformer.py │ ├── predictor.py │ └── utils │ ├── __init__.py │ ├── amg.py │ ├── onnx.py │ └── transforms.py ├── requirements.txt ├── run.py ├── startx.py ├── train ├── evaluate_affordance_unet.py ├── evaluate_mrcnn.py ├── evaluate_sam_point_aligned.py ├── evaluate_sam_point_fixed.py ├── evaluate_unet.py ├── scene_gen │ ├── check_scene_nav.py │ ├── gen_nav.py │ ├── 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