├── .gitignore ├── LICENSE ├── MANIFEST.in ├── Makefile ├── README.md ├── bats_test_workflow.sh ├── crings └── crings.pyx ├── cuda_install.sh ├── external ├── frame_msgs │ ├── __init__.py │ └── msg │ │ ├── _DetectedPerson.py │ │ ├── _DetectedPersons.py │ │ ├── _PersonTrajectories.py │ │ ├── _PersonTrajectory.py │ │ ├── _PersonTrajectoryEntry.py │ │ ├── _TrackedPerson.py │ │ ├── _TrackedPerson2d.py │ │ ├── _TrackedPersons.py │ │ ├── _TrackedPersons2d.py │ │ └── __init__.py ├── lib_clustering │ ├── clustering.cpp │ ├── clustering.html │ ├── clustering.pyx │ ├── setup.py │ └── test.py ├── lib_dwa │ ├── dynamic_window.cpp │ ├── dynamic_window.html │ ├── dynamic_window.pyx │ ├── setup.py │ └── test.py └── tf_bag │ ├── __init__.py │ └── src │ └── tf_bag.py ├── install_pepper3venv.sh ├── maps ├── asl.pgm ├── asl.yaml ├── asl_office_j.pgm ├── asl_office_j.yaml ├── cla_glass_hall.pgm ├── cla_glass_hall.yaml ├── crowdmove1.pgm ├── crowdmove1.yaml ├── crowdmove2.pgm ├── crowdmove2.yaml ├── crowdmove3.pgm ├── crowdmove3.yaml ├── crowdmove4.pgm ├── crowdmove4.yaml ├── crowdmove5.pgm ├── crowdmove5.yaml ├── crowdmove6.pgm ├── crowdmove6.yaml ├── empty.pgm ├── empty.yaml ├── hg_main_hall.pgm ├── hg_main_hall.yaml ├── markclutter.pgm ├── markclutter.yaml ├── markcomplex.pgm ├── markcomplex.yaml ├── markmaze.pgm ├── markmaze.yaml ├── marksimple.pgm ├── marksimple.yaml ├── marktm1.pgm ├── marktm1.yaml ├── marktm2.pgm ├── marktm2.yaml ├── marktm3.pgm ├── marktm3.yaml ├── marktrain.pgm ├── marktrain.yaml ├── openlab_office_j.pgm ├── openlab_office_j.yaml ├── original_ckk.pgm ├── original_ckk.yaml ├── scrubbed_ckk.pgm ├── scrubbed_ckk.yaml ├── unity_scene_map.pgm └── unity_scene_map.yaml ├── media ├── arch_overview2.png ├── crowdmoveenv1.gif ├── crowdmoveenv2.png ├── crowdmoveenv3.png ├── crowdmoveenv4.png ├── crowdmoveenv5.png ├── crowdmoveenv6.png ├── markenv1.gif ├── markenv2.gif ├── soadrlenv.gif ├── testenv1.gif ├── testenv2.gif ├── testenv3.gif ├── trainenv.gif ├── traj_gpt.png └── varch.gif ├── models ├── M │ ├── navreptrainrnn.hyperparams.pckl │ ├── navreptrainrnn.json │ ├── navreptrainrnn1d.hyperparams.pckl │ └── navreptrainrnn1d.json ├── README.md ├── V │ ├── navreptrainvae.json │ └── navreptrainvae1d.json ├── W │ ├── navreptraingpt │ ├── navreptraingpt1d │ ├── navreptrainvae1dlstm │ └── navreptrainvaelstm └── gym │ ├── e2e1dnavreptrainenv_2020_08_20__17_23_31_PPO_E2E1D_CARCH_C64_ckpt.zip │ ├── e2e1dnavreptrainenv_2020_09_01__11_44_49_PPO_E2E1D_VCARCH_C64_ckpt.zip │ ├── e2e1dnavreptrainenv_2020_10_26__14_10_51_PPO_E2E1D_VCARCH_C64_ckpt.zip │ ├── e2e1dnavreptrainenv_2020_10_27__12_13_34_PPO_E2E1D_VCARCH_C64_ckpt.zip │ ├── e2enavreptrainenv_2020_10_26__14_07_52_PPO_E2E_VCARCH_C64_ckpt.zip │ ├── e2enavreptrainenv_2020_10_27__09_10_06_PPO_E2E_VCARCH_C64_ckpt.zip │ ├── navreptrainencodedenv_2020_08_26__15_48_33_PPO_ckpt.zip │ ├── navreptrainencodedenv_2020_09_04__15_50_02_PPO_GPT_M_ONLY_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_07__11_27_08_PPO_GPT_V_ONLY_V64M64_MAYBEPARTIAL_ckpt.zip │ ├── navreptrainencodedenv_2020_09_10__18_02_11_PPO_GPT_VM_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_16__16_04_48_PPO_VAE1D_LSTM_V_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_16__16_13_27_PPO_VAE1D_LSTM_VM_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_16__16_47_15_PPO_VAE1D_LSTM_M_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_16__23_54_21_PPO_GPT1D_V_ONLY_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_17__09_15_17_PPO_VAE_LSTM_V_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_17__16_29_24_PPO_VAE_LSTM_M_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_17__16_29_24_PPO_VAE_LSTM_VM_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_17__17_30_59_PPO_GPT_V_ONLY_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_18__14_11_39_PPO_VAE1D_LSTM_M_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_18__21_18_58_PPO_VAE1D_LSTM_VM_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_18__21_28_47_PPO_VAE1D_LSTM_V_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_19__10_32_00_PPO_GPT_M_ONLY_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_19__10_51_59_PPO_GPT1D_V_ONLY_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_19__13_27_16_PPO_VAE_LSTM_V_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_20__09_56_12_PPO_VAE1DLSTM_V_ONLY_V32M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_20__10_02_38_PPO_VAE1D_LSTM_M_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_20__10_07_25_PPO_VAE_LSTM_M_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_20__10_11_55_PPO_VAE_LSTM_VM_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_21__09_04_01_PPO_VAE1D_LSTM_V_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_21__09_05_38_PPO_VAE1D_LSTM_VM_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_22__01_14_06_PPO_VAE_LSTM_V_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_22__21_04_01_PPO_VAELSTM_V_ONLY_V32M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_23__09_48_22_PPO_VAE_LSTM_VM_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_23__09_56_03_PPO_VAE_LSTM_M_ONLY_V32M512_ckpt.zip │ ├── navreptrainencodedenv_2020_09_24__10_38_02_PPO_VAELSTM_V_ONLY_V32M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_24__12_59_20_PPO_GPT_VM_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_26__09_02_13_PPO_VAELSTM_V_ONLY_V32M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_28__09_21_18_PPO_VAE1DLSTM_V_ONLY_V32M64_ckpt.zip │ ├── navreptrainencodedenv_2020_09_30__07_59_17_PPO_VAE1DLSTM_V_ONLY_V32M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_01__22_35_42_PPO_GPT_V_ONLY_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_02__23_50_56_PPO_GPT_VM_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_04__08_42_30_PPO_GPT_V_ONLY_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_15__09_18_59_PPO_GPT1D_V_ONLY_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_15__12_02_22_PPO_VAELSTM_M_ONLY_V32M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_15__12_11_47_PPO_GPT1D_M_ONLY_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_15__12_12_00_PPO_GPT1D_VM_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_15__12_16_55_PPO_VAELSTM_VM_V32M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_15__12_24_17_PPO_GPT_M_ONLY_V64M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_15__14_50_46_PPO_VAELSTM_VM_V32M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_17__22_12_38_PPO_VAE1DLSTM_M_ONLY_V32M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_17__22_15_08_PPO_VAE1DLSTM_VM_V32M64_ckpt.zip │ ├── navreptrainencodedenv_2020_10_17__22_18_43_PPO_VAELSTM_VM_V32M64_ckpt.zip │ └── navreptrainencodedenv_2020_10_22__16_18_01_PPO_GPT_M_ONLY_V64M64_ckpt.zip ├── navrep ├── __init__.py ├── envs │ ├── __init__.py │ ├── archiveenv.py │ ├── cadrlenv.py │ ├── dreamenv.py │ ├── e2eenv.py │ ├── encodedenv.py │ ├── ianenv.py │ ├── imdreamenv.py │ ├── jointenv.py │ ├── markencodedenv.py │ ├── markenv.py │ ├── markonedreamenv.py │ ├── marktwodreamenv.py │ ├── navreptrainencodedenv.py │ ├── navreptrainenv.py │ ├── scenario_list.py │ ├── toydreamenv.py │ ├── toyenv.py │ └── toytcndreamenv.py ├── models │ ├── __init__.py │ ├── gpt.py │ ├── gpt1d.py │ ├── rnn.py │ ├── siren1d.py │ ├── tcn.py │ ├── tinyvae.py │ ├── torchvae.py │ ├── vae1d.py │ ├── vae1dlstm.py │ ├── vae2d.py │ └── vaelstm.py ├── scripts │ ├── __init__.py │ ├── check_imrnn.py │ ├── check_rnn.py │ ├── check_siren1d.py │ ├── check_tcn.py │ ├── check_vae.py │ ├── check_vae1d.py │ ├── cross_test_e2e1dnavreptrain_in_ianenv.py │ ├── cross_test_e2enavreptrain_in_ianenv.py │ ├── cross_test_guldenring_in_ianenv.py │ ├── cross_test_lucia_in_ianenv.py │ ├── cross_test_navreptrain_in_ianenv.py │ ├── make_1drnn_dataset.py │ ├── make_imrnn_dataset.py │ ├── make_rnn_dataset.py │ ├── make_vae_dataset.py │ ├── paper │ │ └── rings_example.py │ ├── play_by_play_archiveencodedenv.py │ ├── play_by_play_archiveenv.py │ ├── play_by_play_ianenv.py │ ├── play_by_play_navreptrainenv.py │ ├── play_dreamenv.py │ ├── play_encodedenv.py │ ├── play_ianenv.py │ ├── play_imdreamenv.py │ ├── play_markenv.py │ ├── play_markonedreamenv.py │ ├── play_markoneencodedenv.py │ ├── play_marktwodreamenv.py │ ├── play_marktwoencodedenv.py │ ├── play_navreptrainencodedenv.py │ ├── play_navreptrainenv.py │ ├── play_toydreamenv.py │ ├── play_toytcndreamenv.py │ ├── plot_M_training_logs.py │ ├── plot_V_training_logs.py │ ├── plot_W_errors.py │ ├── plot_W_training_logs.py │ ├── plot_best_gym_soadrl.py │ ├── plot_cma_training_progress.py │ ├── plot_compare_vae_siren_1d.py │ ├── plot_cross_test.py │ ├── plot_gym_training_progress.py │ ├── plot_ianenv_trajectories.py │ ├── plot_irl_test_rosbags.py │ ├── plot_load_markone_eval.py │ ├── profile_carracing.py │ ├── profile_ianenv.py │ ├── profile_iarlenv.py │ ├── profile_markoneenv.py │ ├── profile_navreptrainenv.py │ ├── resume_gym_navreptrainencodedenv.py │ ├── test_e2e.py │ ├── test_mark_common.py │ ├── test_markone_VMC.py │ ├── test_marktwo_VMC.py │ ├── test_navrep.py │ ├── test_siren1d.py │ ├── test_soadrl.py │ ├── test_toyrnn.py │ ├── test_toytcn.py │ ├── test_vae.py │ ├── test_vae1d.py │ ├── train_gpt.py │ ├── train_gpt1d.py │ ├── train_gym_e2e1dnavreptrainenv.py │ ├── train_gym_e2enavreptrainenv.py │ ├── train_gym_encodedenv.py │ ├── train_gym_markoneencodedenv.py │ ├── train_gym_marktwoencodedenv.py │ ├── train_gym_navreptrainencodedenv.py │ ├── train_gym_td3_encodedenv.py │ ├── train_imrnn.py │ ├── train_imvae.py │ ├── train_rnn.py │ ├── train_siren1d.py │ ├── train_tcn.py │ ├── train_vae.py │ ├── train_vae1d.py │ ├── train_vae1dlstm.py │ ├── train_vaelstm.py │ ├── workflow_irl.sh │ ├── workflow_markone.sh │ ├── workflow_marktwo.sh │ ├── workflow_navrep.sh │ └── workflow_toy.sh └── tools │ ├── __init__.py │ ├── commonargs.py │ ├── custom_policy.py │ ├── data_extraction.py │ ├── envplayer.py │ ├── render.py │ ├── rings.py │ ├── sb_eval_callback.py │ ├── test_worldmodel.py │ └── wdataset.py ├── navrep_ros ├── CMakeLists.txt ├── launch │ ├── auto_navrep.launch │ ├── evaluator_navrep.launch │ ├── live_navrep.launch │ └── sim_and_navrep.launch ├── package.xml └── scripts │ ├── ros_run_dream │ └── ros_run_navrep ├── pyproject.toml ├── requirements.txt ├── ros_install.sh ├── setup.py ├── tests └── test_workflow.py ├── update_dependencies.sh └── wiki ├── media └── guldenring_test.png └── testing_your_models_in_navrep.md /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ethz-asl/navrep/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ethz-asl/navrep/HEAD/LICENSE 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