├── .gitignore ├── .gitmodules ├── =2.35.39, ├── README.md ├── conda_ubuntu20.yml ├── cp_bound.py ├── cp_bound_with_finetuning.py ├── datasets ├── __init__.py ├── scannet.py └── sunrgbd.py ├── env_params.json ├── example_plan.ipynb ├── example_plan.py ├── generate_samples.py ├── loss_fn.py ├── model_info.json ├── models ├── __init__.py ├── helpers.py ├── model_3detr.py ├── model_perception.py ├── position_embedding.py └── transformer.py ├── nav_sim ├── README.md ├── asset │ ├── get_room_from_3dfront.py │ ├── get_task_dataset.py │ ├── sample_furniture │ │ ├── 00a91a81-fc73-4625-8298-06ecd55b6aaa │ │ │ ├── image.jpg │ │ │ ├── model.mtl │ │ │ ├── normalized_model.obj │ │ │ ├── raw_model.mtl │ │ │ ├── raw_model.obj │ │ │ ├── raw_model_simplified.obj │ │ │ └── texture.png │ │ ├── 59e52283-361c-4b98-93e9-0abf42686924 │ │ │ ├── image.jpg │ │ │ ├── model.mtl │ │ │ ├── normalized_model.obj │ │ │ ├── raw_model.mtl │ │ │ ├── raw_model.obj │ │ │ ├── raw_model_simplified.obj │ │ │ └── texture.png │ │ └── README.md │ ├── util.py │ └── visualize_mesh.py ├── env │ ├── __init__.py │ ├── subproc_vec_env.py │ ├── task_env.py │ ├── vanilla_env.py │ └── vec_env.py ├── test │ ├── clustering.py │ ├── forrestal_gibson │ │ ├── forrestal.py │ │ └── turtlebot_static_nav.yaml │ ├── test_task_sim.py │ └── test_vanilla_sim.py └── util │ └── misc.py ├── pc_dataset.py ├── planner_test_task.py ├── planning ├── Readme.md ├── Safe_Planner.py ├── params.py ├── sp_var.pkl └── utils.py ├── pretrained └── sunrgbd_ep1080.pth ├── requirements.txt ├── setup.py ├── third_party └── pointnet2 │ ├── _ext_src │ ├── include │ │ ├── ball_query.h │ │ ├── cuda_utils.h │ │ ├── group_points.h │ │ ├── interpolate.h │ │ ├── sampling.h │ │ └── utils.h │ └── src │ │ ├── ball_query.cpp │ │ ├── ball_query_gpu.cu │ │ ├── bindings.cpp │ │ ├── group_points.cpp │ │ ├── group_points_gpu.cu │ │ ├── interpolate.cpp │ │ ├── interpolate_gpu.cu │ │ ├── sampling.cpp │ │ └── sampling_gpu.cu │ ├── build │ ├── lib.linux-x86_64-3.8 │ │ └── pointnet2 │ │ │ └── _ext.cpython-38-x86_64-linux-gnu.so │ ├── lib.linux-x86_64-cpython-38 │ │ └── pointnet2 │ │ │ └── _ext.cpython-38-x86_64-linux-gnu.so │ ├── lib.linux-x86_64-cpython-39 │ │ └── pointnet2 │ │ │ └── _ext.cpython-39-x86_64-linux-gnu.so │ ├── temp.linux-x86_64-3.8 │ │ └── _ext_src │ │ │ └── src │ │ │ ├── ball_query.o │ │ │ ├── ball_query_gpu.o │ │ │ ├── bindings.o │ │ │ ├── group_points.o │ │ │ ├── group_points_gpu.o │ │ │ ├── interpolate.o │ │ │ ├── interpolate_gpu.o │ │ │ ├── sampling.o │ │ │ └── sampling_gpu.o │ ├── temp.linux-x86_64-cpython-38 │ │ ├── .ninja_deps │ │ ├── .ninja_log │ │ ├── _ext_src │ │ │ └── src │ │ │ │ ├── ball_query.o │ │ │ │ ├── ball_query_gpu.o │ │ │ │ ├── bindings.o │ │ │ │ ├── group_points.o │ │ │ │ ├── group_points_gpu.o │ │ │ │ ├── interpolate.o │ │ │ │ ├── interpolate_gpu.o │ │ │ │ ├── sampling.o │ │ │ │ └── sampling_gpu.o │ │ └── build.ninja │ └── temp.linux-x86_64-cpython-39 │ │ ├── .ninja_deps │ │ ├── .ninja_log │ │ ├── _ext_src │ │ └── src │ │ │ ├── ball_query.o │ │ │ ├── ball_query_gpu.o │ │ │ ├── bindings.o │ │ │ ├── group_points.o │ │ │ ├── group_points_gpu.o │ │ │ ├── interpolate.o │ │ │ ├── interpolate_gpu.o │ │ │ ├── sampling.o │ │ │ └── sampling_gpu.o │ │ └── build.ninja │ ├── dist │ ├── pointnet2-0.0.0-py3.8-linux-x86_64.egg │ └── pointnet2-0.0.0-py3.9-linux-x86_64.egg │ ├── pointnet2.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ └── top_level.txt │ ├── pointnet2_modules.py │ ├── pointnet2_test.py │ ├── pointnet2_utils.py │ ├── pytorch_utils.py │ └── setup.py └── utils ├── ap_calculator.py ├── box_intersection.c ├── box_ops3d.py ├── box_util.py ├── build ├── lib.linux-x86_64-3.8 │ └── box_intersection.cpython-38-x86_64-linux-gnu.so └── temp.linux-x86_64-3.8 │ └── box_intersection.o ├── cython_compile.py ├── cython_compile.sh ├── dist.py ├── eval_det.py ├── io.py ├── make_args.py ├── misc.py ├── pac_util.py ├── pc_util.py └── random_cuboid.py /.gitignore: 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