├── .gitignore ├── .gitmodules ├── README.md ├── config ├── experiments │ ├── il_ver_goat.yaml │ ├── ver_goat_monolithic.yaml │ ├── ver_goat_skill_chain.yaml │ ├── ver_instance_imagenav.yaml │ ├── ver_language_nav.yaml │ └── ver_objectnav.yaml └── tasks │ ├── goat_stretch_hm3d.yaml │ ├── instance_imagenav_stretch_hm3d.yaml │ ├── language_nav_stretch_hm3d.yaml │ └── objectnav_stretch_hm3d.yaml ├── goat_bench ├── __init__.py ├── algos │ ├── __init__.py │ └── ppo.py ├── config.py ├── dataset │ ├── __init__.py │ ├── goat_dataset.py │ ├── languagenav_dataset.py │ ├── objectnav_dataset.py │ └── ovon_dataset.py ├── measurements │ ├── __init__.py │ ├── collision_penalty.py │ ├── imagenav.py │ ├── nav.py │ └── sum_reward.py ├── models │ ├── __init__.py │ ├── clip_policy.py │ ├── encoders │ │ ├── __init__.py │ │ ├── base.py │ │ ├── blip2.py │ │ ├── clip.py │ │ ├── resnet_gn.py │ │ ├── vc1.py │ │ ├── visual_encoder.py │ │ ├── visual_encoder_v2.py │ │ └── vit.py │ ├── high_level_policy.py │ ├── objaverse_clip_policy.py │ ├── ovrl_policy.py │ └── transforms.py ├── obs_transformer │ └── resize.py ├── run.py ├── task │ ├── __init__.py │ ├── actions.py │ ├── environments.py │ ├── goat_task.py │ ├── rewards.py │ ├── sensors.py │ └── simulator.py ├── trainers │ ├── __init__.py │ └── ppo_trainer_no_2d.py └── utils │ ├── cache_clip_embeddings.py │ ├── cache_image_goals.py │ ├── lr_scheduler.py │ ├── rollout_storage_no_2d.py │ ├── save_image_goals.py │ ├── utils.py │ ├── visualize │ ├── ovon_goals.py │ ├── statistics.py │ └── visualize_annotations.py │ └── visualize_trajectories.py ├── imgs └── teaser.jpg ├── requirements.txt ├── scripts ├── eval │ ├── 1-goat-skill-chaining.sh │ ├── 1-instance-imagenav-eval.sh │ ├── 1-languagenav-eval.sh │ ├── 2-batch-goal-eval.sh │ └── 2-goat-eval.sh └── train │ ├── 1-instance-imagenav-ver.sh │ ├── 1-language-nav-ver.sh │ ├── 1-ovon-ver.sh │ └── 2-goat-ver-monolithic.sh ├── setup.py └── setup.sh /.gitignore: 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