├── .editorconfig ├── .flake8 ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── data ├── connectivity_graphs.pkl └── res │ └── ivln.png ├── environment.yml ├── habitat_extensions ├── __init__.py ├── config │ ├── __init__.py │ ├── default.py │ ├── latent_baselines │ │ ├── eval.yaml │ │ ├── regular_vlnce.yaml │ │ └── train.yaml │ └── map_cma │ │ ├── gt_semantics │ │ ├── episodic_task.yaml │ │ ├── episodic_task_aug.yaml │ │ ├── episodic_task_eval.yaml │ │ ├── iterative_task.yaml │ │ ├── iterative_task_aug.yaml │ │ ├── known_task.yaml │ │ └── known_task_aug.yaml │ │ └── pred_semantics │ │ ├── episodic_task.yaml │ │ ├── episodic_task_aug.yaml │ │ ├── iterative_task.yaml │ │ ├── iterative_task_aug.yaml │ │ ├── known_task.yaml │ │ └── known_task_aug.yaml ├── episode_iterator.py ├── maps.py ├── measures.py ├── sensors.py ├── task.py ├── tour_ndtw.py └── utils.py ├── ivlnce_baselines ├── __init__.py ├── common │ ├── aux_losses.py │ ├── base_il_trainer.py │ ├── env_utils.py │ ├── environments.py │ ├── mapping_module │ │ ├── __init__.py │ │ ├── mapper.py │ │ ├── projector │ │ │ ├── __init__.py │ │ │ ├── core.py │ │ │ ├── point_cloud.py │ │ │ └── projector.py │ │ ├── rednet.py │ │ ├── setup_mapping_module.py │ │ └── visualize_semantic_map.py │ ├── obs_transforms.py │ └── utils.py ├── config │ ├── __init__.py │ ├── default.py │ ├── latent_baselines │ │ ├── 1_cma │ │ │ ├── 0_train.yaml │ │ │ └── 1_eval.yaml │ │ ├── 2_tour_cma │ │ │ ├── 0_train.yaml │ │ │ └── 1_eval.yaml │ │ ├── 3_pool_cma │ │ │ ├── 0_train.yaml │ │ │ └── 1_eval.yaml │ │ └── 4_pool_end_cma │ │ │ ├── 0_train.yaml │ │ │ └── 1_eval.yaml │ └── map_cma │ │ ├── gt_semantics │ │ ├── episodic_maps │ │ │ ├── 0_train_tf.yaml │ │ │ ├── 1_ftune_dagger.yaml │ │ │ ├── 2_eval_episodic.yaml │ │ │ ├── 2_eval_iterative.yaml │ │ │ └── 2_eval_known.yaml │ │ ├── iterative_maps │ │ │ ├── 0_train_tf.yaml │ │ │ ├── 1_ftune_dagger.yaml │ │ │ ├── 2_eval_episodic.yaml │ │ │ ├── 2_eval_iterative.yaml │ │ │ └── 2_eval_known.yaml │ │ └── known_maps │ │ │ ├── 0_train_tf.yaml │ │ │ ├── 1_ftune_dagger.yaml │ │ │ ├── 2_eval_episodic.yaml │ │ │ ├── 2_eval_iterative.yaml │ │ │ └── 2_eval_known.yaml │ │ └── pred_semantics │ │ ├── episodic_maps │ │ ├── 0_train_tf.yaml │ │ ├── 1_ftune_dagger.yaml │ │ ├── 2_eval_episodic.yaml │ │ ├── 2_eval_iterative.yaml │ │ └── 2_eval_known.yaml │ │ ├── iterative_maps │ │ ├── 0_train_tf.yaml │ │ ├── 1_ftune_dagger.yaml │ │ ├── 2_eval_episodic.yaml │ │ ├── 2_eval_iterative.yaml │ │ └── 2_eval_known.yaml │ │ └── known_maps │ │ ├── 0_train_tf.yaml │ │ ├── 1_ftune_dagger.yaml │ │ ├── 2_eval_episodic.yaml │ │ ├── 2_eval_iterative.yaml │ │ └── 2_eval_known.yaml ├── models │ ├── __init__.py │ ├── encoders │ │ ├── instruction_encoder.py │ │ ├── map_encoder.py │ │ └── resnet_encoders.py │ ├── latent_cma_policy.py │ ├── map_cma_policy.py │ └── policy.py └── trainers │ ├── __init__.py │ ├── dagger_trainer.py │ ├── iterative_collection_dagger_trainer.py │ ├── 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