├── .gitignore ├── LICENSE ├── README.md ├── e2e ├── README.md ├── alfred │ ├── Dockerfile │ ├── LICENSE │ ├── README.md │ ├── data │ │ ├── README.md │ │ ├── __init__.py │ │ ├── download_data.sh │ │ ├── preprocess.py │ │ └── splits │ │ │ └── oct21.json │ ├── doc │ │ └── FAQ.md │ ├── env │ │ ├── __init__.py │ │ ├── reward.py │ │ ├── tasks.py │ │ └── thor_env.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 │ ├── media │ │ ├── aug.png │ │ ├── instr_teaser.png │ │ ├── model.png │ │ └── tasks.png │ ├── models │ │ ├── ERRATA.md │ │ ├── README.md │ │ ├── __init__.py │ │ ├── config │ │ │ └── rewards.json │ │ ├── eval │ │ │ ├── eval.py │ │ │ ├── eval_seq2seq.py │ │ │ ├── eval_subgoals.py │ │ │ ├── eval_task.py │ │ │ └── leaderboard.py │ │ ├── model │ │ │ ├── __init__.py │ │ │ ├── seq2seq.py │ │ │ └── seq2seq_im_mask.py │ │ ├── nn │ │ │ ├── __init__.py │ │ │ ├── resnet.py │ │ │ └── vnn.py │ │ ├── train │ │ │ └── train_seq2seq.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── extract_resnet.py │ │ │ ├── helper_utils.py │ │ │ └── metric.py │ ├── requirements.txt │ └── scripts │ │ ├── check_thor.py │ │ ├── docker_build.py │ │ ├── docker_run.py │ │ ├── install_deps.sh │ │ └── startx.py ├── check_thor.py ├── config │ └── config_alfred.yaml ├── requirements.txt └── src │ ├── alfred │ ├── thor_connector.py │ └── utils.py │ ├── hlp_planner.py │ ├── knn_set.pkl │ └── run_eval.py └── hlp ├── README.md ├── hlp_planner.py └── knn_set.pkl /.gitignore: -------------------------------------------------------------------------------- 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