├── NeRF ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ ├── dagger_trainer.cpython-37.pyc │ ├── ss_trainer_ETP.cpython-37.pyc │ └── utils.cpython-37.pyc ├── common │ ├── __pycache__ │ │ ├── aux_losses.cpython-37.pyc │ │ ├── base_il_trainer.cpython-37.pyc │ │ ├── env_utils.cpython-37.pyc │ │ ├── environments.cpython-37.pyc │ │ ├── ops.cpython-37.pyc │ │ ├── transformer.cpython-37.pyc │ │ └── utils.cpython-37.pyc │ ├── aux_losses.py │ ├── base_il_trainer.py │ ├── env_utils.py │ ├── environments.py │ ├── ops.py │ ├── recollection_dataset.py │ ├── transformer.py │ └── utils.py ├── config │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-37.pyc │ │ └── default.cpython-37.pyc │ ├── default.py │ ├── nonlearning.yaml │ └── r2r_configs │ │ ├── cma.yaml │ │ ├── cma_aug.yaml │ │ ├── cma_aug_tune.yaml │ │ ├── cma_da.yaml │ │ ├── cma_da_aug_tune.yaml │ │ ├── cma_pm.yaml │ │ ├── cma_pm_aug.yaml │ │ ├── cma_pm_aug_tune.yaml │ │ ├── cma_pm_da.yaml │ │ ├── cma_pm_da_aug_tune.yaml │ │ ├── cma_sf.yaml │ │ ├── cma_ss.yaml │ │ ├── seq2seq.yaml │ │ ├── seq2seq_aug.yaml │ │ ├── seq2seq_aug_tune.yaml │ │ ├── seq2seq_da.yaml │ │ ├── seq2seq_pm.yaml │ │ ├── seq2seq_pm_aug.yaml │ │ ├── seq2seq_pm_da_aug_tune.yaml │ │ └── test_set_inference.yaml ├── dagger_trainer.py ├── models │ ├── Policy_ViewSelection_ETP.py │ ├── __init__.py │ ├── __pycache__ │ │ ├── Policy_ViewSelection_ETP.cpython-37.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── graph_utils.cpython-37.pyc │ │ ├── policy.cpython-37.pyc │ │ └── utils.cpython-37.pyc │ ├── encoders │ │ ├── __pycache__ │ │ │ ├── clip.cpython-37.pyc │ │ │ ├── instruction_encoder.cpython-37.pyc │ │ │ └── resnet_encoders.cpython-37.pyc │ │ ├── clip.py │ │ ├── instruction_encoder.py │ │ └── resnet_encoders.py │ ├── etp │ │ ├── __pycache__ │ │ │ ├── nerf.cpython-37.pyc │ │ │ ├── vilmodel_cmt.cpython-37.pyc │ │ │ └── vlnbert_init.cpython-37.pyc │ │ ├── nerf.py │ │ ├── vilmodel_cmt.py │ │ └── vlnbert_init.py │ ├── graph_utils.py │ ├── policy.py │ └── utils.py ├── ss_trainer_ETP.py ├── utils.py └── waypoint_pred │ ├── TRM_net.py │ ├── __pycache__ │ ├── TRM_net.cpython-37.pyc │ └── utils.cpython-37.pyc │ ├── transformer │ ├── __pycache__ │ │ └── waypoint_bert.cpython-37.pyc │ ├── pytorch_transformer │ │ ├── __pycache__ │ │ │ ├── file_utils.cpython-37.pyc │ │ │ ├── modeling_bert.cpython-37.pyc │ │ │ └── modeling_utils.cpython-37.pyc │ │ ├── file_utils.py │ │ ├── modeling_bert.py │ │ └── modeling_utils.py │ └── waypoint_bert.py │ └── utils.py ├── README.md ├── bert_config ├── bert-base-uncased │ ├── config.json │ └── vocab.txt └── xlm-roberta-base │ ├── config.json │ ├── sentencepiece.bpe.model │ └── tokenizer.json ├── demo.gif ├── environment.yaml ├── habitat_extensions ├── __init__.py ├── config │ ├── __init__.py │ ├── default.py │ ├── r2r_vlnce.yaml │ ├── rxr_vlnce_en.yaml │ ├── rxr_vlnce_hi.yaml │ └── rxr_vlnce_te.yaml ├── habitat_simulator.py ├── maps.py ├── measures.py ├── nav.py ├── 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