├── .gitignore ├── LICENSE ├── README.md ├── assets └── overview.png ├── habitat_baselines ├── README.md ├── __init__.py ├── agents │ ├── __init__.py │ ├── benchmark_gym.py │ ├── mp_agents.py │ ├── ppo_agents.py │ ├── simple_agents.py │ └── slam_agents.py ├── common │ ├── base_il_trainer.py │ ├── base_trainer.py │ ├── baseline_registry.py │ ├── environments.py │ ├── obs_transformers.py │ ├── rollout_storage.py │ ├── tensor_dict.py │ └── tensorboard_utils.py ├── config │ ├── __init__.py │ ├── default.py │ ├── eqa │ │ ├── il_eqa_cnn_pretrain.yaml │ │ ├── il_pacman_nav.yaml │ │ └── il_vqa.yaml │ ├── imagenav │ │ ├── ddppo_imagenav_example.yaml │ │ ├── ddppo_imagenav_gibson.yaml │ │ └── ppo_imagenav_example.yaml │ ├── objectnav │ │ └── ddppo_objectnav.yaml │ ├── pointnav │ │ ├── ddppo_pointnav.yaml │ │ ├── ppo_pointnav.yaml │ │ ├── ppo_pointnav_example.yaml │ │ └── ppo_pointnav_habitat_iccv19.yaml │ ├── rearrange │ │ ├── ddppo_rearrange_reach.yaml │ │ ├── ddppo_rearrangepick.yaml │ │ ├── spap_rearrange_reach.yaml │ │ └── spap_rearrangepick.yaml │ └── test │ │ ├── ddppo_imagenav_test.yaml │ │ ├── ddppo_pointnav_test.yaml │ │ ├── ppo_imagenav_test.yaml │ │ └── ppo_pointnav_test.yaml ├── il │ ├── README.md │ ├── metrics.py │ ├── models │ │ └── models.py │ ├── requirements.txt │ └── trainers │ │ ├── eqa_cnn_pretrain_trainer.py │ │ ├── pacman_trainer.py │ │ └── vqa_trainer.py ├── motion_planning │ ├── __init__.py │ ├── grasp_generator.py │ ├── motion_plan.py │ ├── mp_sim.py │ ├── mp_spaces.py │ └── robot_target.py ├── py.typed ├── rl │ ├── __init__.py │ ├── ddppo │ │ ├── README.md │ │ ├── __init__.py │ │ ├── algo │ │ │ ├── __init__.py │ │ │ ├── ddp_utils.py │ │ │ └── ddppo.py │ │ ├── data_generation │ │ │ ├── create_gibson_large_dataset.py │ │ │ └── gibson_dset_with_qual.json │ │ ├── ddp_utils.py │ │ ├── multi_node_slurm.sh │ │ ├── policy │ │ │ ├── __init__.py │ │ │ ├── resnet.py │ │ │ ├── resnet_policy.py │ │ │ └── running_mean_and_var.py │ │ ├── requirements.txt │ │ └── single_node.sh │ ├── models │ │ ├── __init__.py │ │ ├── rnn_state_encoder.py │ │ └── simple_cnn.py │ ├── ppo │ │ ├── __init__.py │ │ ├── policy.py │ │ ├── ppo.py │ │ └── ppo_trainer.py │ └── requirements.txt ├── run.py ├── slambased │ ├── README.md │ ├── install_deps.sh │ ├── mappers.py │ ├── monodepth.py │ ├── path_planners.py │ ├── reprojection.py │ ├── requirements.txt │ └── utils.py └── utils │ ├── __init__.py │ ├── common.py │ ├── env_utils.py │ ├── gym_adapter.py │ ├── render_wrapper.py │ └── visualizations │ ├── __init__.py │ └── utils.py ├── habitat_extensions ├── __init__.py ├── actions.py ├── audionav_dataset.py ├── audionav_sensor.py ├── audionav_task.py ├── config │ ├── __init__.py │ ├── default.py │ ├── imagegoal_task.yaml │ ├── objectgoal_task.yaml │ ├── rxr_vlnce_english_task.yaml │ ├── rxr_vlnce_hindi_task.yaml │ ├── rxr_vlnce_telugu_task.yaml │ ├── van_task.yaml │ ├── vlnce_task.yaml │ ├── vlnce_task_aug.yaml │ ├── vlnce_task_rl.yaml │ ├── vlnce_waypoint_DN.yaml │ ├── vlnce_waypoint_task.yaml │ └── vlnce_waypoint_task_teacher.yaml ├── discrete_planner.py ├── maps.py ├── measures.py ├── obs_transformers.py ├── sensors.py ├── shortest_path_follower.py ├── task.py └── utils.py ├── requirements.txt ├── run.py ├── sbatch_scripts ├── distributed_jobs.sh ├── eval_job.sh ├── eval_mt.sh ├── job.sh └── sub_job.sh └── vienna ├── __init__.py ├── collect_data.py ├── common ├── aux_losses.py ├── base_il_trainer.py ├── ddppo_alg.py ├── env_utils.py ├── environments.py ├── recollection_dataset.py ├── rollout_storage.py └── utils.py ├── config ├── __init__.py ├── default.py └── r2r_waypoint │ ├── tf-hpn-_c_eval.yaml │ ├── tf-hpn-_c_ign.yaml │ ├── tf-hpn-_c_ign_eval.yaml │ ├── tf-hpn-_c_ogn.yaml │ ├── tf-hpn-_c_ogn_eval.yaml │ ├── tf-hpn-_c_van.yaml │ ├── tf-hpn-_c_van_eval.yaml │ ├── tf-hpn-_c_vln.yaml │ └── tf-hpn-_c_vln_eval.yaml ├── dagger_trainer.py ├── ddppo_waypoint_trainer.py ├── models ├── CLEnc.py ├── __init__.py ├── cma_policy.py ├── encoders │ ├── 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