├── .gitignore ├── Arial.ttf ├── LICENSE ├── README.md ├── clean_env.sh ├── config ├── agent │ ├── default.yaml │ └── stretch.yaml ├── main.yaml ├── target_object_types │ ├── cleaning_table.yaml │ ├── open_door.yaml │ └── open_fridge.yaml └── task_config │ ├── cleaning_table.yaml │ ├── opening_door.yaml │ └── opening_fridge.yaml ├── docker ├── dockerfile ├── nvidia_icd.json ├── nvidia_layers.json └── requirements.txt ├── figures └── teaser_v9.svg ├── requirements.txt ├── scripts ├── ai2thor_xorg.py ├── download_dino_model.py ├── generate_top_down_views.py ├── kill-zombie.sh ├── robothor-train.sh ├── sync_servers.py ├── thor_visibility_bug_reproduction.py ├── train-100-houses.sh └── training │ ├── clean_table.sh │ ├── open_door_pull.sh │ ├── open_door_push.sh │ └── open_fridge.sh ├── test_scripts ├── download_dino_model.py └── test_nautilus.py └── training ├── __init__.py ├── callbacks ├── __init__.py ├── callback_sensors.py ├── local_logging.py └── wandb_logging.py ├── evaluation ├── __init__.py ├── full_minival.py ├── habitat_sim_object_nav.py ├── ithor_train.py ├── real_object_nav.py └── real_object_nav_mapping.py ├── experiments_dino_single ├── base.py ├── base_discrete.py ├── cleaning_table_base.py ├── cleaning_table_multimodalv2_dinovitgru.py ├── door_parsing_removed.py ├── opening_door_base.py ├── opening_door_manipcam_dinovitgru.py ├── opening_door_multimodalv2_dinovitgru.py ├── opening_door_multimodalv2_naturecnn.py ├── opening_door_navcam_dinovitgru.py ├── opening_door_single_cam_base.py ├── opening_fridge_base.py └── opening_fridge_multimodalv2_dinovitgru.py ├── get_the_most_recent_checkpoint.py ├── main.py ├── models ├── continuous_visual_nav.py ├── mapping_models.py ├── ncamera.py ├── ncamera_dino.py ├── ncamera_dino_ablation.py ├── ncamera_discrete.py └── ncamera_transformer.py ├── preprocessors ├── __init__.py ├── clip_aug_preprocessor.py ├── dinovit_aug_preprocessor.py └── nopretrain_aug_preprocessor.py ├── robot ├── README.md ├── __init__.py ├── sample_controller_usage.py ├── stretch_controller.py ├── stretch_initialization_utils.py ├── type_utils.py └── utils_functions.py ├── sensors ├── __init__.py ├── proprioception.py └── vision.py ├── tasks ├── __init__.py ├── cleaning_table.py ├── door_parsing.py ├── fridge_filter.py ├── mapping.py ├── object_nav.py ├── object_nav_discrete.py ├── object_nav_procthor.py ├── opening_door.py ├── opening_fridge.py └── table_filter.py └── utils ├── __init__.py ├── corruptions.py ├── map_utils.py ├── types.py └── utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RchalYang/harmonic_mobile_manipulation/HEAD/.gitignore -------------------------------------------------------------------------------- /Arial.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RchalYang/harmonic_mobile_manipulation/HEAD/Arial.ttf 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