├── .gitignore ├── ARENA_EXECUTABLE_LICENSE ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── DATA_LICENSE ├── LICENSE ├── NOTICE ├── README.md ├── THIRD_PARTY_LICENSES ├── arena_installation_test ├── README.md ├── __init__.py ├── arena_nn_model.py ├── eval.py └── run_linux.sh ├── arena_wrapper ├── __init__.py ├── arena_controller.py ├── arena_orchestrator.py ├── arena_request_builder.py ├── constants.py ├── enums │ ├── __init__.py │ └── object_output_wrapper.py └── util │ ├── __init__.py │ └── object_class_decoder.py ├── data ├── CDFs │ ├── README.md │ ├── mission_01.json │ ├── mission_07.json │ ├── mission_08.json │ └── mission_40.json ├── demo-data │ ├── Images │ │ ├── ColorImage.png │ │ ├── DepthImage.png │ │ ├── InstanceSegmentationImage.png │ │ └── NormalsImage.png │ └── cdf │ │ └── cdf1.json ├── trajectory-data │ └── README.md └── vision-data │ ├── README.md │ ├── class_to_area_thresholds.json │ ├── class_to_area_thresholds_customized.json │ ├── class_to_idx.json │ ├── class_to_obj_id_customized.json │ ├── classes.txt │ └── obj_id_to_class_customized.json ├── debugger ├── README.md ├── __init__.py ├── arena_debugger.py ├── model_debugger.py ├── run_arena_debugger.sh └── run_model_debugger.sh ├── documentation ├── Arena Robot Action Space.pdf └── Arena assets.pdf ├── eval_ai ├── README.md ├── __init__.py ├── run_evalai_test.py ├── run_test.sh └── sample_test_data.json ├── images └── place-control-panel.png ├── modeling ├── README.md ├── inference │ ├── README.md │ ├── __init__.py │ ├── constants.py │ ├── convert_new_data_to_nlg.py │ ├── eval.py │ ├── model_executors │ │ ├── ns_model_executor.py │ │ ├── placeholder_model_executor.py │ │ └── vl_model_executor.py │ ├── models │ │ ├── ns_model.py │ │ ├── placeholder_model.py │ │ └── vl_model.py │ ├── run_linux.sh │ └── util │ │ ├── __init__.py │ │ ├── class_to_idx.json │ │ ├── convert_planner_exports_to_cdfs.py │ │ ├── name_mapping.py │ │ ├── robot_actions.py │ │ ├── utils.py │ │ └── vl_model_utils.py ├── ns_model │ ├── README.md │ ├── __init__.py │ ├── model │ │ ├── base.py │ │ ├── learned.py │ │ └── transformer.py │ ├── nn │ │ ├── attention.py │ │ ├── dec_object.py │ │ ├── enc_lang.py │ │ ├── enc_visual.py │ │ ├── enc_vl.py │ │ ├── encodings.py │ │ └── transforms.py │ ├── ns_data_generator.py │ ├── requirements.txt │ ├── train_eval.py │ └── utils │ │ ├── config.py │ │ ├── data_util.py │ │ ├── lang.py │ │ ├── model_util.py │ │ └── utils.py ├── vision_model │ ├── README.md │ ├── __init__.py │ ├── coco_eval.py │ ├── coco_pretrained.py │ ├── coco_utils.py │ ├── constants.py │ ├── data_cleaning_version_control.py │ ├── data_generators │ │ ├── arena_data_generator.py │ │ └── coco_data_generator.py │ ├── engine.py │ ├── models.py │ ├── onnx_runtime.py │ ├── prepare_clean_data.py │ ├── preprocessors.py │ ├── requirements.txt │ ├── train_eval.py │ ├── transforms.py │ └── utils.py └── vl_model │ ├── README.md │ ├── data_generators │ ├── simple_tokenizer.py │ └── vl_data_generator.py │ ├── download_pretrained.sh │ ├── engine.py │ ├── layers.py │ ├── models.py │ ├── requirements.txt │ ├── train_eval.py │ └── utils.py ├── scripts ├── fetch_arena.sh ├── fetch_ns_model.sh ├── fetch_trajectory_data.sh ├── fetch_vision_data.sh ├── fetch_vision_model.sh ├── fetch_vl_model.sh ├── install_dependencies.sh └── run_streaming_server.sh └── web_tool ├── README.md ├── __init__.py ├── front-end ├── index.html ├── package.json ├── src │ ├── components │ │ ├── App.jsx │ │ ├── DropDown.jsx │ │ ├── PlayConsole.jsx │ │ ├── StreamingContent.jsx │ │ └── Urls.jsx │ ├── index.jsx │ └── styles │ │ └── streamingcontentpage.scss └── vite.config.js ├── run_server.sh └── server.py /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store 2 | .idea/ 3 | **/__pycache__/ 4 | arena/ 5 | logs/ -------------------------------------------------------------------------------- /ARENA_EXECUTABLE_LICENSE: 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