├── .github └── workflows │ └── gh_pages.yml ├── .gitignore ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── cambrian ├── __init__.py ├── agents │ ├── __init__.py │ ├── agent.py │ ├── object.py │ └── point.py ├── config.py ├── configs │ ├── __init__.py │ ├── base.yaml │ ├── env │ │ ├── agents │ │ │ ├── agent.yaml │ │ │ ├── eyes │ │ │ │ ├── aperture │ │ │ │ │ ├── aperture.yaml │ │ │ │ │ ├── circular.yaml │ │ │ │ │ ├── mask.yaml │ │ │ │ │ └── random_mask.yaml │ │ │ │ ├── eye.yaml │ │ │ │ ├── multi_eye.yaml │ │ │ │ └── optics.yaml │ │ │ ├── object.yaml │ │ │ ├── object_sphere.yaml │ │ │ ├── object_sphere_light.yaml │ │ │ ├── object_sphere_textured.yaml │ │ │ ├── object_sphere_textured_adversary.yaml │ │ │ ├── object_sphere_textured_goal.yaml │ │ │ ├── point.yaml │ │ │ ├── point_seeker.yaml │ │ │ ├── point_seeker_maze.yaml │ │ │ ├── point_seeker_random.yaml │ │ │ └── point_textured.yaml │ │ ├── env.yaml │ │ ├── maze_env.yaml │ │ ├── mazes │ │ │ ├── ALL.yaml │ │ │ ├── COMPLEX.yaml │ │ │ ├── COMPLEX_LARGE.yaml │ │ │ ├── L.yaml │ │ │ ├── OPEN.yaml │ │ │ ├── OPEN_LARGE.yaml │ │ │ ├── STRAIGHT.yaml │ │ │ ├── Y.yaml │ │ │ └── maze.yaml │ │ └── renderer │ │ │ ├── bev.yaml │ │ │ ├── bev_tracking.yaml │ │ │ ├── fixed.yaml │ │ │ ├── renderer.yaml │ │ │ └── tracking.yaml │ ├── evo │ │ ├── all.yaml │ │ ├── constraints │ │ │ ├── morphological_feasibility_small.yaml │ │ │ ├── total_memory_throughput.yaml │ │ │ └── total_pixels.yaml │ │ ├── evo.yaml │ │ └── mutations │ │ │ ├── fov.yaml │ │ │ ├── lat_range.yaml │ │ │ ├── lon_range.yaml │ │ │ ├── net_arch_pi.yaml │ │ │ ├── num_eyes.yaml │ │ │ ├── resolution.yaml │ │ │ └── stack_size.yaml │ ├── example │ │ ├── detection.yaml │ │ ├── example.yaml │ │ ├── navigation.yaml │ │ └── tracking.yaml │ ├── exp │ │ └── exp.yaml │ ├── hydra │ │ ├── callbacks │ │ │ ├── log_job_return_callback.yaml │ │ │ └── save_config_callback.yaml │ │ ├── hydra.yaml │ │ ├── job_logging │ │ │ ├── basic.yaml │ │ │ ├── custom_stdout.yaml │ │ │ ├── file.yaml │ │ │ ├── logging.yaml │ │ │ └── stderr.yaml │ │ ├── launcher │ │ │ ├── aws.yaml │ │ │ ├── euler.yaml │ │ │ ├── local.yaml │ │ │ ├── openmind.yaml │ │ │ ├── slurm.yaml │ │ │ ├── supercloud.yaml │ │ │ └── supercloud_cpu.yaml │ │ └── sweeper │ │ │ └── evolution_nevergrad.yaml │ ├── overlay │ │ └── sweep.yaml │ ├── task │ │ ├── detection.yaml │ │ ├── maze_task.yaml │ │ ├── navigation.yaml │ │ ├── task.yaml │ │ └── tracking.yaml │ └── trainer │ │ ├── callbacks │ │ └── callbacks.yaml │ │ ├── fitness_fn │ │ ├── eval_monitor.yaml │ │ ├── test_num_eyes.yaml │ │ └── test_num_eyes_and_fov.yaml │ │ ├── model │ │ ├── loaded_model.yaml │ │ ├── model.yaml │ │ └── policy_kwargs │ │ │ ├── cnn.yaml │ │ │ ├── cnn_shared.yaml │ │ │ ├── combined.yaml │ │ │ ├── flatten.yaml │ │ │ ├── mlp.yaml │ │ │ ├── mlp_shared.yaml │ │ │ ├── permuted.yaml │ │ │ └── shared.yaml │ │ ├── trainer.yaml │ │ └── wrappers │ │ ├── constant_action_wrapper.yaml │ │ ├── frame_stack_wrapper.yaml │ │ ├── petting_zoo_env_wrapper.yaml │ │ ├── single_agent_env_wrapper.yaml │ │ └── torch_to_numpy_wrapper.yaml ├── envs │ ├── __init__.py │ ├── done_fns.py │ ├── env.py │ ├── maze_env.py │ ├── reward_fns.py │ └── step_fns.py ├── eyes │ ├── __init__.py │ ├── eye.py │ ├── multi_eye.py │ └── optics.py ├── main.py ├── ml │ ├── __init__.py │ ├── callbacks.py │ ├── constraint_fns.py │ ├── evo.py │ ├── features_extractors.py │ ├── fitness_fns.py │ ├── model.py │ └── trainer.py ├── models │ ├── agents │ │ ├── agent.xml │ │ ├── point.xml │ │ └── sphere.xml │ ├── assets │ │ ├── maze_textures │ │ │ ├── vertical_10.png │ │ │ ├── vertical_2.png │ │ │ ├── vertical_20.png │ │ │ ├── vertical_30.png │ │ │ ├── vertical_4.png │ │ │ ├── vertical_40.png │ │ │ ├── vertical_6.png │ │ │ ├── vertical_60.png │ │ │ └── vertical_8.png │ │ └── object_textures │ │ │ ├── blackwhite_vertical_2.png │ │ │ ├── blackwhite_vertical_20.png │ │ │ ├── blackwhite_vertical_4.png │ │ │ ├── blackwhite_vertical_40.png │ │ │ ├── blackwhite_vertical_60.png │ │ │ ├── blackwhite_vertical_8.png │ │ │ ├── redblue_vertical_2.png │ │ │ ├── redblue_vertical_20.png │ │ │ ├── redblue_vertical_4.png │ │ │ ├── redblue_vertical_40.png │ │ │ ├── redblue_vertical_60.png │ │ │ └── redblue_vertical_8.png │ ├── mazes │ │ └── maze.xml │ ├── scene.xml │ └── settings.xml ├── renderer │ ├── __init__.py │ ├── overlays.py │ ├── render_utils.py │ └── renderer.py └── utils │ ├── __init__.py │ ├── cambrian_xml.py │ ├── logger.py │ ├── spec.py │ ├── types.py │ ├── utils.py │ └── wrappers.py ├── docker-compose.yml ├── docker ├── aci.dockerfile ├── common │ ├── base.dockerfile │ ├── common.dockerfile │ └── final.dockerfile ├── snippets │ ├── madrona_mjx.dockerfile │ ├── miniconda.dockerfile │ └── mujoco.dockerfile └── vnc.dockerfile ├── docs ├── .gitignore ├── Makefile ├── _config.yml ├── _static │ ├── cc-transparent.png │ ├── css │ │ └── custom.css │ ├── eye.png │ ├── genvi.png │ └── whatifeye.png ├── conf.py ├── contributing.md ├── examples │ ├── assets │ │ ├── .gitignore │ │ ├── detection │ │ │ ├── evolved_agent.mp4 │ │ │ ├── privileged_agent.mp4 │ │ │ ├── screenshot.png │ │ │ └── trained_agent.mp4 │ │ ├── navigation │ │ │ ├── evolved_agent.mp4 │ │ │ ├── privileged_agent.mp4 │ │ │ ├── screenshot.png │ │ │ └── trained_agent.mp4 │ │ ├── optics │ │ │ ├── circular_aperture_sweep.mp4 │ │ │ ├── circular_aperture_sweep_realistic.mp4 │ │ │ ├── imaging.png │ │ │ ├── mask_aperture_sweep.mp4 │ │ │ └── trained_agent_r0p75.mp4 │ │ └── tracking │ │ │ ├── privileged_agent.mp4 │ │ │ ├── screenshot.png │ │ │ └── trained_agent.mp4 │ ├── custom.md │ ├── detection.md │ ├── index.md │ ├── navigation.md │ ├── optics.md │ └── tracking.md ├── index.md ├── make.bat ├── reference │ ├── .gitignore │ └── index.md └── usage │ ├── configuration.md │ ├── docker.md │ ├── index.md │ ├── pitfalls.md │ ├── training.md │ └── visualizing.md ├── pyproject.toml ├── scripts └── run.sh └── tools ├── maze_creator.py ├── multi_agent ├── configs │ ├── multi_agent.yaml │ └── 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