├── .gitignore ├── 3rdparty └── habitat-lab │ ├── habitat │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-38.pyc │ │ ├── version.cpython-310.pyc │ │ └── version.cpython-38.pyc │ ├── config │ │ ├── CONFIG_KEYS.md │ │ ├── README.md │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── default.cpython-38.pyc │ │ │ ├── default_structured_configs.cpython-38.pyc │ │ │ └── read_write.cpython-38.pyc │ │ ├── benchmark │ │ │ ├── nav │ │ │ │ ├── eqa_mp3d.yaml │ │ │ │ ├── eqa_rgbonly_mp3d.yaml │ │ │ │ ├── imagenav │ │ │ │ │ ├── imagenav_base.yaml │ │ │ │ │ ├── imagenav_gibson.yaml │ │ │ │ │ ├── imagenav_mp3d.yaml │ │ │ │ │ └── imagenav_test.yaml │ │ │ │ ├── instance_imagenav │ │ │ │ │ ├── instance_imagenav_hm3d_v1.yaml │ │ │ │ │ ├── instance_imagenav_hm3d_v2.yaml │ │ │ │ │ └── instance_imagenav_hm3d_v3.yaml │ │ │ │ ├── objectnav │ │ │ │ │ ├── objectnav_hm3d.yaml │ │ │ │ │ ├── objectnav_hm3d_with_semantic.yaml │ │ │ │ │ ├── objectnav_mp3d.yaml │ │ │ │ │ ├── objectnav_mp3d_with_semantic.yaml │ │ │ │ │ └── objectnav_v2_hm3d_stretch.yaml │ │ │ │ ├── pointnav │ │ │ │ │ ├── pointnav_base.yaml │ │ │ │ │ ├── pointnav_franka.yaml │ │ │ │ │ ├── pointnav_gibson.yaml │ │ │ │ │ ├── pointnav_habitat_test.yaml │ │ │ │ │ ├── pointnav_hm3d.yaml │ │ │ │ │ └── pointnav_mp3d.yaml │ │ │ │ └── vln_r2r.yaml │ │ │ └── rearrange │ │ │ │ ├── close_cab.yaml │ │ │ │ ├── close_fridge.yaml │ │ │ │ ├── idle.yaml │ │ │ │ ├── idle_single_camera.yaml │ │ │ │ ├── interact.yaml │ │ │ │ ├── nav_to_obj.yaml │ │ │ │ ├── open_cab.yaml │ │ │ │ ├── open_fridge.yaml │ │ │ │ ├── pick.yaml │ │ │ │ ├── pick_spa.yaml │ │ │ │ ├── place.yaml │ │ │ │ ├── play.yaml │ │ │ │ ├── play_stretch.yaml │ │ │ │ ├── prepare_groceries.yaml │ │ │ │ ├── reach_state.yaml │ │ │ │ ├── rearrange.yaml │ │ │ │ ├── rearrange_easy.yaml │ │ │ │ ├── rearrange_easy_multi_agent.yaml │ │ │ │ ├── set_table.yaml │ │ │ │ └── tidy_house.yaml │ │ ├── default.py │ │ ├── default_structured_configs.py │ │ ├── habitat │ │ │ ├── dataset │ │ │ │ ├── eqa │ │ │ │ │ └── mp3d.yaml │ │ │ │ ├── imagenav │ │ │ │ │ ├── gibson.yaml │ │ │ │ │ └── mp3d.yaml │ │ │ │ ├── instance_imagenav │ │ │ │ │ ├── hm3d_v1.yaml │ │ │ │ │ ├── hm3d_v2.yaml │ │ │ │ │ └── hm3d_v3.yaml │ │ │ │ ├── objectnav │ │ │ │ │ ├── hm3d.yaml │ │ │ │ │ ├── hm3d_v2.yaml │ │ │ │ │ └── mp3d.yaml │ │ │ │ ├── pointnav │ │ │ │ │ ├── gibson.yaml │ │ │ │ │ ├── gibson_0_plus.yaml │ │ │ │ │ ├── gibson_v2.yaml │ │ │ │ │ ├── habitat_test.yaml │ │ │ │ │ ├── hm3d.yaml │ │ │ │ │ └── mp3d.yaml │ │ │ │ ├── rearrangement │ │ │ │ │ └── replica_cad.yaml │ │ │ │ └── vln │ │ │ │ │ └── mp3d_r2r.yaml │ │ │ ├── simulator │ │ │ │ └── agents │ │ │ │ │ ├── depth_agent.yaml │ │ │ │ │ ├── depth_head_agent.yaml │ │ │ │ │ ├── depth_head_agent_vis.yaml │ │ │ │ │ ├── rgb_agent.yaml │ │ │ │ │ ├── rgb_head_agent.yaml │ │ │ │ │ ├── rgbd_agent.yaml │ │ │ │ │ ├── rgbd_head_agent.yaml │ │ │ │ │ ├── rgbd_head_rgbd_arm_agent.yaml │ │ │ │ │ ├── rgbds_agent.yaml │ │ │ │ │ └── semantic_agent.yaml │ │ │ └── task │ │ │ │ ├── actions │ │ │ │ ├── discrete_waypoint_controller.yaml │ │ │ │ ├── velocity_controller.yaml │ │ │ │ └── waypoint_controller.yaml │ │ │ │ ├── eqa.yaml │ │ │ │ ├── imagenav.yaml │ │ │ │ ├── instance_imagenav.yaml │ │ │ │ ├── instance_imagenav_v3.yaml │ │ │ │ ├── objectnav.yaml │ │ │ │ ├── objectnav_v2.yaml │ │ │ │ ├── pointnav.yaml │ │ │ │ ├── pointnav_franka.yaml │ │ │ │ ├── rearrange │ │ │ │ ├── close_cab.yaml │ │ │ │ ├── close_fridge.yaml │ │ │ │ ├── demo │ │ │ │ │ ├── idle.yaml │ │ │ │ │ └── interact.yaml │ │ │ │ ├── nav_to_obj.yaml │ │ │ │ ├── open_cab.yaml │ │ │ │ ├── open_fridge.yaml │ │ │ │ ├── pddl │ │ │ │ │ ├── prepare_groceries.yaml │ │ │ │ │ ├── rearrange.yaml │ │ │ │ │ ├── rearrange_easy.yaml │ │ │ │ │ ├── set_table.yaml │ │ │ │ │ └── tidy_house.yaml │ │ │ │ ├── pick.yaml │ │ │ │ ├── pick_spa.yaml │ │ │ │ ├── place.yaml │ │ │ │ ├── play.yaml │ │ │ │ ├── prepare_groceries.yaml │ │ │ │ ├── reach_state.yaml │ │ │ │ ├── rearrange.yaml │ │ │ │ ├── rearrange_easy.yaml │ │ │ │ ├── rearrange_easy_multi_agent.yaml │ │ │ │ ├── set_table.yaml │ │ │ │ └── tidy_house.yaml │ │ │ │ └── vln_r2r.yaml │ │ ├── read_write.py │ │ └── test │ │ │ ├── habitat_all_sensors_test.yaml │ │ │ ├── habitat_hm3d_instance_image_nav_test.yaml │ │ │ ├── habitat_mp3d_eqa_test.yaml │ │ │ ├── habitat_mp3d_object_nav_test.yaml │ │ │ └── habitat_r2r_vln_test.yaml │ ├── core │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── agent.cpython-38.pyc │ │ │ ├── benchmark.cpython-38.pyc │ │ │ ├── challenge.cpython-38.pyc │ │ │ ├── dataset.cpython-38.pyc │ │ │ ├── embodied_task.cpython-38.pyc │ │ │ ├── env.cpython-38.pyc │ │ │ ├── environments.cpython-38.pyc │ │ │ ├── logging.cpython-38.pyc │ │ │ ├── registry.cpython-38.pyc │ │ │ ├── simulator.cpython-38.pyc │ │ │ ├── spaces.cpython-38.pyc │ │ │ ├── utils.cpython-38.pyc │ │ │ └── vector_env.cpython-38.pyc │ │ ├── agent.py │ │ ├── benchmark.py │ │ ├── challenge.py │ │ ├── dataset.py │ │ ├── embodied_task.py │ │ ├── env.py │ │ ├── environments.py │ │ ├── logging.py │ │ ├── registry.py │ │ ├── simulator.py │ │ ├── spaces.py │ │ ├── utils.py │ │ └── vector_env.py │ ├── datasets │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── registration.cpython-38.pyc │ │ │ └── utils.cpython-38.pyc │ │ ├── eqa │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── mp3d_eqa_dataset.cpython-38.pyc │ │ │ └── mp3d_eqa_dataset.py │ │ ├── image_nav │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── instance_image_nav_dataset.cpython-38.pyc │ │ │ └── instance_image_nav_dataset.py │ │ ├── object_nav │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── object_nav_dataset.cpython-38.pyc │ │ │ └── object_nav_dataset.py │ │ ├── pointnav │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── pointnav_dataset.cpython-38.pyc │ │ │ ├── pointnav_dataset.py │ │ │ └── pointnav_generator.py │ │ ├── rearrange │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── rearrange_dataset.cpython-38.pyc │ │ │ ├── combine_datasets.py │ │ │ ├── configs │ │ │ │ ├── all_receptacles.yaml │ │ │ │ ├── bench_config.yaml │ │ │ │ ├── empty.yaml │ │ │ │ ├── hab │ │ │ │ │ ├── prepare_groceries.yaml │ │ │ │ │ ├── rearrange.yaml │ │ │ │ │ ├── rearrange_easy.yaml │ │ │ │ │ ├── set_table.yaml │ │ │ │ │ └── tidy_house.yaml │ │ │ │ ├── in_drawer.yaml │ │ │ │ ├── in_fridge.yaml │ │ │ │ └── test_config.yaml │ │ │ ├── generate_episode_inits.py │ │ │ ├── rearrange_dataset.py │ │ │ ├── rearrange_generator.py │ │ │ ├── run_episode_generator.py │ │ │ └── samplers │ │ │ │ ├── __init__.py │ │ │ │ ├── art_sampler.py │ │ │ │ ├── object_sampler.py │ │ │ │ ├── object_target_sampler.py │ │ │ │ ├── receptacle.py │ │ │ │ └── scene_sampler.py │ │ ├── registration.py │ │ ├── utils.py │ │ └── vln │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── r2r_vln_dataset.cpython-38.pyc │ │ │ └── r2r_vln_dataset.py │ ├── gym │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── gym_definitions.cpython-38.pyc │ │ │ ├── gym_env_episode_count_wrapper.cpython-38.pyc │ │ │ ├── gym_env_obs_dict_wrapper.cpython-38.pyc │ │ │ └── gym_wrapper.cpython-38.pyc │ │ ├── gym_definitions.py │ │ ├── gym_env_episode_count_wrapper.py │ │ ├── gym_env_obs_dict_wrapper.py │ │ └── gym_wrapper.py │ ├── py.typed │ ├── robots │ │ ├── README.md │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── fetch_robot.cpython-38.pyc │ │ │ ├── fetch_suction.cpython-38.pyc │ │ │ ├── franka_robot.cpython-38.pyc │ │ │ ├── manipulator.cpython-38.pyc │ │ │ ├── mobile_manipulator.cpython-38.pyc │ │ │ ├── robot_base.cpython-38.pyc │ │ │ ├── robot_interface.cpython-38.pyc │ │ │ ├── spot_robot.cpython-38.pyc │ │ │ ├── static_manipulator.cpython-38.pyc │ │ │ └── stretch_robot.cpython-38.pyc │ │ ├── fetch_robot.py │ │ ├── fetch_suction.py │ │ ├── franka_robot.py │ │ ├── manipulator.py │ │ ├── mobile_manipulator.py │ │ ├── robot_base.py │ │ ├── robot_interface.py │ │ ├── spot_robot.py │ │ ├── static_manipulator.py │ │ └── stretch_robot.py │ ├── sims │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── registration.cpython-38.pyc │ │ ├── habitat_simulator │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── actions.cpython-38.pyc │ │ │ │ ├── debug_visualizer.cpython-38.pyc │ │ │ │ ├── habitat_simulator.cpython-38.pyc │ │ │ │ └── sim_utilities.cpython-38.pyc │ │ │ ├── actions.py │ │ │ ├── debug_visualizer.py │ │ │ ├── habitat_simulator.py │ │ │ └── sim_utilities.py │ │ ├── pyrobot │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ └── __init__.cpython-38.pyc │ │ │ └── pyrobot.py │ │ └── registration.py │ ├── tasks │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── registration.cpython-38.pyc │ │ │ └── utils.cpython-38.pyc │ │ ├── eqa │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ └── eqa.cpython-38.pyc │ │ │ └── eqa.py │ │ ├── nav │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── instance_image_nav_task.cpython-38.pyc │ │ │ │ ├── nav.cpython-38.pyc │ │ │ │ ├── object_nav_task.cpython-38.pyc │ │ │ │ └── shortest_path_follower.cpython-38.pyc │ │ │ ├── instance_image_nav_task.py │ │ │ ├── nav.py │ │ │ ├── object_nav_task.py │ │ │ └── shortest_path_follower.py │ │ ├── rearrange │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── marker_info.cpython-38.pyc │ │ │ │ ├── rearrange_grasp_manager.cpython-38.pyc │ │ │ │ ├── rearrange_sensors.cpython-38.pyc │ │ │ │ ├── rearrange_sim.cpython-38.pyc │ │ │ │ ├── rearrange_task.cpython-38.pyc │ │ │ │ ├── robot_manager.cpython-38.pyc │ │ │ │ └── utils.cpython-38.pyc │ │ │ ├── actions │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── actions.cpython-38.pyc │ │ │ │ │ ├── grip_actions.cpython-38.pyc │ │ │ │ │ ├── oracle_nav_action.cpython-38.pyc │ │ │ │ │ ├── pddl_actions.cpython-38.pyc │ │ │ │ │ └── robot_action.cpython-38.pyc │ │ │ │ ├── actions.py │ │ │ │ ├── grip_actions.py │ │ │ │ ├── oracle_nav_action.py │ │ │ │ ├── pddl_actions.py │ │ │ │ └── robot_action.py │ │ │ ├── marker_info.py │ │ │ ├── multi_task │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── composite_sensors.cpython-38.pyc │ │ │ │ │ ├── composite_task.cpython-38.pyc │ │ │ │ │ ├── pddl_action.cpython-38.pyc │ │ │ │ │ ├── pddl_domain.cpython-38.pyc │ │ │ │ │ ├── pddl_logical_expr.cpython-38.pyc │ │ │ │ │ ├── pddl_predicate.cpython-38.pyc │ │ │ │ │ ├── pddl_sim_state.cpython-38.pyc │ │ │ │ │ ├── rearrange_pddl.cpython-38.pyc │ │ │ │ │ └── task_creator_utils.cpython-38.pyc │ │ │ │ ├── composite_sensors.py │ │ │ │ ├── composite_task.py │ │ │ │ ├── domain_configs │ │ │ │ │ └── replica_cad.yaml │ │ │ │ ├── pddl_action.py │ │ │ │ ├── pddl_domain.py │ │ │ │ ├── pddl_logical_expr.py │ │ │ │ ├── pddl_predicate.py │ │ │ │ ├── pddl_sim_state.py │ │ │ │ ├── rearrange_pddl.py │ │ │ │ └── task_creator_utils.py │ │ │ ├── policy_modules.py │ │ │ ├── rearrange_grasp_manager.py │ │ │ ├── rearrange_sensors.py │ │ │ ├── rearrange_sim.py │ │ │ ├── rearrange_task.py │ │ │ ├── robot_manager.py │ │ │ ├── sub_tasks │ │ │ │ ├── __init__.py │ │ │ │ ├── __pycache__ │ │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ │ ├── articulated_object_sensors.cpython-38.pyc │ │ │ │ │ ├── articulated_object_task.cpython-38.pyc │ │ │ │ │ ├── nav_to_obj_sensors.cpython-38.pyc │ │ │ │ │ ├── nav_to_obj_task.cpython-38.pyc │ │ │ │ │ ├── pick_sensors.cpython-38.pyc │ │ │ │ │ ├── pick_task.cpython-38.pyc │ │ │ │ │ ├── place_sensors.cpython-38.pyc │ │ │ │ │ ├── place_task.cpython-38.pyc │ │ │ │ │ ├── reach_sensors.cpython-38.pyc │ │ │ │ │ └── reach_task.cpython-38.pyc │ │ │ │ ├── articulated_object_sensors.py │ │ │ │ ├── articulated_object_task.py │ │ │ │ ├── nav_to_obj_sensors.py │ │ │ │ ├── nav_to_obj_task.py │ │ │ │ ├── pick_sensors.py │ │ │ │ ├── pick_task.py │ │ │ │ ├── place_sensors.py │ │ │ │ ├── place_task.py │ │ │ │ ├── reach_sensors.py │ │ │ │ └── reach_task.py │ │ │ └── utils.py │ │ ├── registration.py │ │ ├── utils.py │ │ └── vln │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ └── vln.cpython-38.pyc │ │ │ └── vln.py │ ├── utils │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── common.cpython-38.pyc │ │ │ ├── env_utils.cpython-38.pyc │ │ │ ├── geometry_utils.cpython-38.pyc │ │ │ ├── pickle5_multiprocessing.cpython-38.pyc │ │ │ └── profiling_wrapper.cpython-38.pyc │ │ ├── common.py │ │ ├── controller_wrapper.py │ │ ├── env_utils.py │ │ ├── geometry_utils.py │ │ ├── pickle5_multiprocessing.py │ │ ├── profiling_wrapper.py │ │ ├── render_wrapper.py │ │ ├── test_utils.py │ │ └── visualizations │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── fog_of_war.cpython-38.pyc │ │ │ ├── maps.cpython-38.pyc │ │ │ └── utils.cpython-38.pyc │ │ │ ├── assets │ │ │ └── maps_topdown_agent_sprite │ │ │ │ └── 100x100.png │ │ │ ├── fog_of_war.py │ │ │ ├── maps.py │ │ │ └── utils.py │ └── version.py │ ├── requirements.txt │ └── setup.py ├── README.md ├── __pycache__ ├── arguments.cpython-38.pyc ├── constants.cpython-38.pyc └── model.cpython-38.pyc ├── agents ├── __pycache__ │ ├── cur_exp.cpython-38.pyc │ ├── instance_exp.cpython-38.pyc │ ├── sem_exp.cpython-38.pyc │ ├── t_class.cpython-38.pyc │ ├── t_dis.cpython-38.pyc │ └── train_exp.cpython-38.pyc ├── cur_exp.py ├── instance_exp.py ├── sem_exp.py ├── t_class.py ├── t_dis.py ├── train_exp.py └── utils │ ├── __pycache__ │ ├── count.cpython-38.pyc │ ├── semantic_prediction.cpython-38.pyc │ └── visualization.cpython-38.pyc │ ├── count.py │ ├── semantic_prediction.py │ └── visualization.py ├── algo ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-38.pyc │ └── ppo.cpython-38.pyc └── ppo.py ├── arguments.py ├── configs ├── Base-RCNN-FPN.yaml └── COCO-InstanceSegmentation │ └── mask_rcnn_R_50_FPN_3x.yaml ├── constants.py ├── data ├── docs └── legend.png ├── envs ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-310.pyc │ └── __init__.cpython-38.pyc ├── habitat │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── imagegoal_env.cpython-38.pyc │ │ ├── objectgoal_env.cpython-38.pyc │ │ ├── t_class_env.cpython-38.pyc │ │ └── t_dis_env.cpython-38.pyc │ ├── configs │ │ └── tasks │ │ │ ├── instance_imagenav.yaml │ │ │ ├── objectnav_gibson.yaml │ │ │ └── test.yaml │ ├── imagegoal_env.py │ ├── objectgoal_env.py │ ├── t_class_env.py │ ├── t_dis_env.py │ └── utils │ │ ├── __pycache__ │ │ └── vector_env.cpython-38.pyc │ │ └── vector_env.py └── utils │ ├── __pycache__ │ ├── depth_utils.cpython-38.pyc │ ├── fmm_planner.cpython-38.pyc │ ├── pose.cpython-38.pyc │ └── rotation_utils.cpython-38.pyc │ ├── co_dino_5scale_swin_large_16e_o365tococo.py │ ├── codetr.py │ ├── demo.jpg │ ├── depth_utils.py │ ├── fmm_planner.py │ ├── map_builder.py │ ├── pose.py │ └── rotation_utils.py ├── main.py ├── model.py ├── output.gif ├── requirements.txt ├── tmp └── models │ └── exp1 │ └── train.log └── utils ├── __pycache__ ├── distributions.cpython-310.pyc ├── distributions.cpython-38.pyc ├── model.cpython-310.pyc ├── model.cpython-38.pyc └── storage.cpython-38.pyc ├── distributions.py ├── model.py ├── optimization.py └── storage.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/XiaohanLei/IEVE/HEAD/.gitignore -------------------------------------------------------------------------------- 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