├── LICENSE ├── README.md ├── data └── planner │ └── traj_0.pkl ├── networks └── tf_net │ ├── control_mlp_net │ ├── checkpoint │ ├── save_net_mlp.ckpt.data-00000-of-00001 │ ├── save_net_mlp.ckpt.index │ └── save_net_mlp.ckpt.meta │ ├── control_mlp_net_train │ ├── checkpoint │ ├── tf_saver_1030000.ckpt.data-00000-of-00001 │ ├── tf_saver_1030000.ckpt.index │ ├── tf_saver_1030000.ckpt.meta │ ├── tf_saver_1300000.ckpt.data-00000-of-00001 │ ├── tf_saver_1300000.ckpt.index │ ├── tf_saver_1300000.ckpt.meta │ ├── tf_saver_1654000.ckpt.data-00000-of-00001 │ ├── tf_saver_1654000.ckpt.index │ ├── tf_saver_1654000.ckpt.meta │ ├── tf_saver_1666500.ckpt.data-00000-of-00001 │ ├── tf_saver_1666500.ckpt.index │ ├── tf_saver_1666500.ckpt.meta │ ├── tf_saver_1711000.ckpt.data-00000-of-00001 │ ├── tf_saver_1711000.ckpt.index │ ├── tf_saver_1711000.ckpt.meta │ ├── tf_saver_20000.ckpt.data-00000-of-00001 │ ├── tf_saver_20000.ckpt.index │ ├── tf_saver_20000.ckpt.meta │ ├── tf_saver_2318100.ckpt.data-00000-of-00001 │ ├── tf_saver_2318100.ckpt.index │ ├── tf_saver_2318100.ckpt.meta │ ├── tf_saver_708000.ckpt.data-00000-of-00001 │ ├── tf_saver_708000.ckpt.index │ └── tf_saver_708000.ckpt.meta │ ├── control_rnn_net │ ├── checkpoint │ ├── save_net_rnn.ckpt.data-00000-of-00001 │ ├── save_net_rnn.ckpt.index │ └── save_net_rnn.ckpt.meta │ ├── pid_net │ ├── tf_saver_108430000.ckpt.data-00000-of-00001 │ ├── tf_saver_108430000.ckpt.index │ ├── tf_saver_108430000.ckpt.meta │ ├── tf_saver_109330000.ckpt.data-00000-of-00001 │ ├── tf_saver_109330000.ckpt.index │ ├── tf_saver_109330000.ckpt.meta │ ├── tf_saver_60150000.ckpt.data-00000-of-00001 │ ├── tf_saver_60150000.ckpt.index │ ├── tf_saver_60150000.ckpt.meta │ ├── tf_saver_93720000.ckpt.data-00000-of-00001 │ ├── tf_saver_93720000.ckpt.index │ └── tf_saver_93720000.ckpt.meta │ ├── planning_net │ ├── checkpoint │ ├── save_net_new.ckpt.data-00000-of-00001 │ ├── save_net_new.ckpt.index │ ├── save_net_new.ckpt.meta │ ├── tf_saver_107840000.ckpt.data-00000-of-00001 │ ├── tf_saver_107840000.ckpt.index │ ├── tf_saver_107840000.ckpt.meta │ ├── tf_saver_10840000.ckpt.data-00000-of-00001 │ ├── tf_saver_10840000.ckpt.index │ ├── tf_saver_10840000.ckpt.meta │ ├── tf_saver_10841000.ckpt.data-00000-of-00001 │ ├── tf_saver_12844000.ckpt.data-00000-of-00001 │ ├── tf_saver_12844000.ckpt.index │ ├── tf_saver_12844000.ckpt.meta │ ├── tf_saver_16800000.ckpt.data-00000-of-00001 │ ├── tf_saver_16800000.ckpt.index │ ├── tf_saver_16800000.ckpt.meta │ ├── tf_saver_250010.ckpt.data-00000-of-00001 │ ├── tf_saver_250010.ckpt.index │ ├── tf_saver_250010.ckpt.meta │ ├── tf_saver_252750.ckpt.data-00000-of-00001 │ ├── tf_saver_252750.ckpt.index │ ├── tf_saver_252750.ckpt.meta │ ├── tf_saver_31380000.ckpt.data-00000-of-00001 │ ├── tf_saver_31380000.ckpt.index │ ├── tf_saver_31380000.ckpt.meta │ ├── tf_saver_34000000.ckpt.data-00000-of-00001 │ ├── tf_saver_34000000.ckpt.index │ ├── tf_saver_34000000.ckpt.meta │ ├── tf_saver_8120000.ckpt.data-00000-of-00001 │ ├── tf_saver_8120000.ckpt.index │ ├── tf_saver_8120000.ckpt.meta │ ├── tf_saver_8262000.ckpt.data-00000-of-00001 │ ├── tf_saver_8262000.ckpt.index │ └── tf_saver_8262000.ckpt.meta │ └── rl_net │ ├── events.out.tfevents.1549996182.DESKTOP-74C64PN │ ├── iter_1040.data-00000-of-00001 │ ├── iter_1040.index │ ├── iter_1040.meta │ ├── iter_1180.data-00000-of-00001 │ ├── iter_1180.index │ ├── iter_1180.meta │ ├── iter_1180_-918791 │ ├── iter_2460.data-00000-of-00001 │ ├── iter_2460.index │ ├── iter_2460.meta │ ├── iter_2460_-356971 │ ├── iter_300.data-00000-of-00001 │ ├── iter_300.index │ ├── iter_300.meta │ ├── iter_300_-607427 │ ├── iter_640.data-00000-of-00001 │ ├── iter_640.index │ ├── iter_640.meta │ ├── iter_640_369665 │ ├── iter_980.data-00000-of-00001 │ ├── iter_980.index │ ├── iter_980.meta │ └── iter_980_-1836467 ├── pics ├── 30.gif ├── 30_15.gif ├── 45.gif ├── 60.gif ├── RL.gif ├── gap_pose_2.jpg ├── merge.jpg └── system_framework.jpg └── python_scripts ├── cross_gap ├── Rapid_trajectory_generator.py ├── __pycache__ │ ├── Rapid_trajectory_generator.cpython-36.pyc │ ├── narrow_gap.cpython-36.pyc │ └── tf_policy_network.cpython-36.pyc ├── cross_nap_control.py ├── narrow_gap.py ├── quad_rotor_controller_tf.py ├── quad_rotor_controller_tf_gym.py ├── quad_rotor_controller_torch.py ├── setup_path.py ├── tf_policy_network.py └── tools │ ├── __pycache__ │ ├── pid_controller.cpython-36.pyc │ ├── quadrocoptertrajectory.cpython-36.pyc │ └── tf_pid_network.cpython-36.pyc │ ├── controller_data_generator.py │ ├── img_tools.py │ ├── joystick_controller.py │ ├── pid_controller.py │ ├── pid_controller_data_sample.py │ ├── pid_rajectory_follower.py │ ├── plane_logger.py │ ├── quadrocoptertrajectory.py │ ├── query_aimsim_images.py │ ├── state_plotter.py │ └── tf_pid_network.py ├── deep_drone ├── Rapid_trajectory_generator_nlp.py ├── __pycache__ │ └── tf_rapid_trajectory.cpython-36.pyc ├── test_torch_rnn.py ├── tf_rapid_trajectory.py ├── tf_trajectory_follower.py ├── trajectory_data_loder.py ├── trajectory_follower.py ├── trajectory_follower_rnn.py └── trajectory_rnn_net.py ├── gym_env ├── air_sim_deep_drone.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ ├── requires.txt │ └── top_level.txt ├── air_sim_deep_drone │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-36.pyc │ │ ├── cross_grap_env.cpython-36.pyc │ │ ├── cross_grap_env_v2.cpython-36.pyc │ │ ├── deep_drone_env.cpython-36.pyc │ │ └── narrow_gap.cpython-36.pyc │ ├── cross_grap_env.py │ ├── cross_grap_env_v2.py │ ├── deep_drone_env.py │ ├── tools │ │ ├── __pycache__ │ │ │ └── quadrocoptertrajectory.cpython-36.pyc │ │ ├── controller_data_generator.py │ │ ├── img_tools.py │ │ ├── joystick_controller.py │ │ ├── plane_logger.py │ │ ├── quadrocoptertrajectory.py │ │ ├── query_aimsim_images.py │ │ └── state_plotter.py │ └── tools_bak │ │ ├── __pycache__ │ │ ├── img_tools.cpython-36.pyc │ │ ├── joystick_controller.cpython-36.pyc │ │ 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