├── README.md ├── controller ├── CMakeLists.txt ├── include │ └── agile_locomotion │ │ ├── a1_const.h │ │ ├── agile_locomotion.h │ │ ├── aliengo_const.h │ │ ├── comm.h │ │ ├── comm.lcm │ │ ├── cpp_policy.h │ │ ├── lcm.h │ │ ├── lcm_server.h │ │ ├── lcmcomm │ │ ├── Cartesian.hpp │ │ ├── HighCmd.hpp │ │ ├── HighState.hpp │ │ ├── IMU.hpp │ │ ├── LED.hpp │ │ ├── LowCmd.hpp │ │ ├── LowState.hpp │ │ ├── MotorCmd.hpp │ │ └── MotorState.hpp │ │ ├── loop.h │ │ ├── low_level.h │ │ ├── quadruped.h │ │ ├── safety.h │ │ ├── udp.h │ │ ├── unitree_joystick.h │ │ └── unitree_legged_sdk.h ├── launch │ ├── cms_ros.launch │ └── d435_only.launch ├── lib │ ├── libunitree_legged_sdk_amd64.so │ ├── libunitree_legged_sdk_arm32.so │ └── libunitree_legged_sdk_arm64.so ├── models │ ├── .gitignore │ ├── blind │ │ ├── mean1200.csv │ │ ├── mlp_1200.pt │ │ ├── prop_encoder_1200.pt │ │ └── var1200.csv │ └── vision │ │ ├── mean1200.csv │ │ ├── mlp_1200.pt │ │ ├── prop_encoder_1200.pt │ │ └── var1200.csv ├── package.xml ├── parameters │ └── default.yaml └── src │ ├── agile_locomotion.cpp │ ├── cpp_policy.cpp │ └── low_level.cpp ├── data └── .gitignore ├── dependencies.yaml ├── media ├── cover.png └── mount.stl ├── utils ├── .gitignore ├── CMakeLists.txt ├── include │ └── utils │ │ └── logging.h ├── package.xml └── src │ └── logging.cpp ├── visual_locomotion └── learning │ ├── .gitignore │ ├── CMakeLists.txt │ ├── config │ ├── config.py │ ├── test_config.yaml │ └── train_config.yaml │ ├── model │ ├── all.yaml │ └── vision_model.pth │ ├── nodes │ └── tester_node.py │ ├── package.xml │ ├── scripts │ └── analysis.py │ ├── setup.py │ ├── src │ ├── Architecture │ │ └── models │ │ │ ├── arch_squeezenet.py │ │ │ ├── dataset.py │ │ │ ├── learner.py │ │ │ └── normalization.py │ └── VisualLearner │ │ ├── input_handler.py │ │ ├── output_handler.py │ │ └── visual_predictor.py │ └── train.py └── visualoco_msgs ├── CMakeLists.txt ├── msg ├── Proprioception.msg └── VisuaLatent.msg └── package.xml 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