├── .gitignore ├── .ipynb_checkpoints ├── calculate_successes-checkpoint.ipynb └── plot-checkpoint.py ├── LICENSE ├── README.md ├── README_LANGUAGE.md ├── README_good_robot.md ├── __init__.py ├── analysis ├── .ipynb_checkpoints │ └── plots-checkpoint.ipynb ├── aggregate_compositional.py ├── color_embedding_space.ipynb ├── log_tools.py └── plots.ipynb ├── annotate_data.py ├── blocks_data ├── broken.json ├── broken_line.json ├── clean_notebook.py ├── color_logos │ └── make_all.sh ├── data_questions.ipynb ├── debug_blocks_to_move.json ├── devset.json ├── explore_data.ipynb ├── explore_gr_data.ipynb ├── explore_gr_data_clean.ipynb ├── filtered │ ├── dev.jsonlines │ ├── test.jsonlines │ └── train.jsonlines ├── on_top.json ├── scratch.ipynb ├── singleset.json ├── small_devset.json ├── small_trainset.json ├── testset_v2.json ├── tinyset.json ├── trainset.json └── trainset_v2.json ├── calculate_successes.ipynb ├── calibrate.py ├── calibrate_ros.py ├── capture.py ├── cc_figure.ipynb ├── cc_figure_2.ipynb ├── cc_figure_4.ipynb ├── cc_figure_7.ipynb ├── collector.py ├── configs ├── bisk │ ├── transformer │ │ ├── image │ │ │ ├── bert_no_reconstruction.yaml │ │ │ ├── bert_no_reconstruction_small_weight_large_patch.yaml │ │ │ ├── bert_no_reconstruction_tuned.yaml │ │ │ ├── bert_no_reconstruction_tuned_on_image.yaml │ │ │ ├── bert_no_reconstruction_warmup_1500.yaml │ │ │ ├── bert_no_reconstruction_warmup_2000.yaml │ │ │ ├── bert_no_reconstruction_warmup_4000.yaml │ │ │ ├── bert_no_reconstruction_warmup_750.yaml │ │ │ ├── bert_no_reconstruction_zero.yaml │ │ │ ├── bert_reconstruction.yaml │ │ │ ├── bert_reconstruction_residual.yaml │ │ │ ├── bert_reconstruction_tuned.yaml │ │ │ ├── glove_no_reconstruction.yaml │ │ │ ├── glove_reconstruction.yaml │ │ │ └── tuned_from_5.yaml │ │ ├── image_low_dropout │ │ │ ├── bert_no_reconstruction.yaml │ │ │ ├── bert_no_reconstruction_small_weight_large_patch.yaml │ │ │ ├── bert_no_reconstruction_warmup_1500.yaml │ │ │ ├── bert_no_reconstruction_warmup_2000.yaml │ │ │ ├── bert_no_reconstruction_warmup_4000.yaml │ │ │ ├── bert_no_reconstruction_warmup_750.yaml │ │ │ ├── bert_no_reconstruction_zero.yaml │ │ │ ├── bert_reconstruction.yaml │ │ │ ├── bert_reconstruction_residual.yaml │ │ │ ├── glove_no_reconstruction.yaml │ │ │ ├── glove_reconstruction.yaml │ │ │ └── tuned_from_5.yaml │ │ └── state │ │ │ ├── bert_no_reconstruction.yaml │ │ │ ├── bert_no_reconstruction_tuned_on_image.yaml │ │ │ ├── bert_reconstruction.yaml │ │ │ ├── glove_no_reconstruction.yaml │ │ │ ├── glove_no_reconstruction_tuned_on_image.yaml │ │ │ └── glove_reconstruction.yaml │ ├── transformer_small_patch │ │ ├── image │ │ │ ├── bert_no_reconstruction.yaml │ │ │ ├── bert_no_reconstruction_zero.yaml │ │ │ ├── bert_no_reconstruction_zero_weight_0.05.yaml │ │ │ ├── bert_reconstruction.yaml │ │ │ ├── bert_reconstruction_residual.yaml │ │ │ ├── glove_no_reconstruction.yaml │ │ │ ├── glove_reconstruction.yaml │ │ │ └── tuned_from_5.yaml │ │ └── state │ │ │ ├── bert_no_reconstruction.yaml │ │ │ ├── bert_reconstruction.yaml │ │ │ ├── glove_no_reconstruction.yaml │ │ │ └── glove_reconstruction.yaml │ └── unet │ │ ├── images │ │ ├── glove.yaml │ │ └── glove_no_reconstruction.yaml │ │ └── state │ │ ├── glove.yaml │ │ └── glove_no_reconstruction.yaml ├── debug_bisk_residual.yaml ├── debug_data.yaml ├── debug_gr.yaml ├── debug_gr_residual.yaml ├── debug_gr_stack.yaml ├── debug_images.yaml ├── debug_navigation.yaml ├── debug_transformer.yaml ├── gr_transformer │ ├── augment.yaml │ ├── base.yaml │ ├── best_tuned.yaml │ ├── compos │ │ ├── baseline.yaml │ │ ├── bluebrown.yaml │ │ ├── bluegray.yaml │ │ ├── bluegreen.yaml │ │ ├── blueorange.yaml │ │ ├── bluepurple.yaml │ │ ├── bluered.yaml │ │ ├── blueyellow.yaml │ │ ├── graybrown.yaml │ │ ├── grayorange.yaml │ │ ├── graypurple.yaml │ │ ├── greenbrown.yaml │ │ ├── greengray.yaml │ │ ├── greenorange.yaml │ │ ├── greenpurple.yaml │ │ ├── greenyellow.yaml │ │ ├── orangebrown.yaml │ │ ├── orangepurple.yaml │ │ ├── purplebrown.yaml │ │ ├── redbrown.yaml │ │ ├── redgray.yaml │ │ ├── redgreen.yaml │ │ ├── redorange.yaml │ │ ├── redpurple.yaml │ │ ├── redyellow.yaml │ │ ├── yellowbrown.yaml │ │ ├── yellowgray.yaml │ │ ├── yelloworange.yaml │ │ └── yellowpurple.yaml │ ├── compos_rows │ │ ├── baseline.yaml │ │ ├── bluegreen.yaml │ │ ├── bluered.yaml │ │ ├── blueyellow.yaml │ │ ├── greenyellow.yaml │ │ ├── redgreen.yaml │ │ └── redyellow.yaml │ ├── debug_heldout.yaml │ ├── flip.yaml │ ├── flip_residual.yaml │ ├── flip_tuned.yaml │ ├── rotate.yaml │ ├── rows │ │ ├── recon.yaml │ │ ├── recon_20w.yaml │ │ └── recon_repl.yaml │ ├── rows_real_data │ │ ├── ablation │ │ │ ├── 10.yaml │ │ │ ├── 100.yaml │ │ │ ├── 20.yaml │ │ │ ├── 30.yaml │ │ │ ├── 40.yaml │ │ │ ├── 50.yaml │ │ │ ├── 60.yaml │ │ │ ├── 70.yaml │ │ │ ├── 80.yaml │ │ │ ├── 90.yaml │ │ │ └── no_pretrain.yaml │ │ ├── ablation_no_pretrain │ │ │ ├── 10.yaml │ │ │ ├── 100.yaml │ │ │ ├── 20.yaml │ │ │ ├── 30.yaml │ │ │ ├── 40.yaml │ │ │ ├── 50.yaml │ │ │ ├── 60.yaml │ │ │ ├── 70.yaml │ │ │ ├── 80.yaml │ │ │ ├── 90.yaml │ │ │ └── no_pretrain.yaml │ │ ├── recon.yaml │ │ ├── recon_20w.yaml │ │ ├── recon_long_command.yaml │ │ └── recon_long_command_best.yaml │ ├── rows_stacks │ │ └── recon.yaml │ ├── sim.yaml │ ├── stack_flip.yaml │ ├── stacks │ │ ├── recon.yaml │ │ ├── recon_20w.yaml │ │ ├── recon_long_command.yaml │ │ ├── recon_long_command_best.yaml │ │ └── recon_repl.yaml │ └── stacks_real_data │ │ ├── ablation │ │ ├── 10.yaml │ │ ├── 100.yaml │ │ ├── 20.yaml │ │ ├── 30.yaml │ │ ├── 40.yaml │ │ ├── 50.yaml │ │ ├── 60.yaml │ │ ├── 70.yaml │ │ ├── 80.yaml │ │ ├── 90.yaml │ │ └── no_pretrain.yaml │ │ ├── ablation_no_pretrain │ │ ├── 10.yaml │ │ ├── 100.yaml │ │ ├── 20.yaml │ │ ├── 30.yaml │ │ ├── 40.yaml │ │ ├── 50.yaml │ │ ├── 60.yaml │ │ ├── 70.yaml │ │ ├── 80.yaml │ │ ├── 90.yaml │ │ └── no_pretrain.yaml │ │ ├── recon.yaml │ │ ├── recon_20w.yaml │ │ ├── recon_long_command.yaml │ │ └── recon_long_command_best.yaml ├── gr_unet │ ├── base.yaml │ ├── overfit.yaml │ ├── rows.yaml │ └── rows_and_stacks.yaml ├── image_transformer │ ├── 32mm.yaml │ ├── 32mm_recon_tuned.yaml │ ├── base.yaml │ ├── bert.yaml │ ├── bert_best.yaml │ ├── best_so_far.yaml │ ├── big_glove.yaml │ ├── debug.yaml │ ├── large_patch.yaml │ ├── tune32mm.yaml │ ├── tune32mm_bert_no_recon.yaml │ ├── tune32mm_bert_no_recon_large.yaml │ ├── tune32mm_glove_no_recon.yaml │ ├── tuned.yaml │ └── tuned_mse.yaml ├── image_tuning_bisk │ ├── 2_4_split.yaml │ ├── 3_3_split.yaml │ ├── bert_2_no_recon.yaml │ ├── bert_2_no_recon_pretrained.yaml │ ├── bert_2_recon.yaml │ ├── bert_2_recon_dropout.yaml │ ├── bert_4_tuned.yaml │ ├── bert_best.yaml │ ├── bert_no_recon_for_tuning.yaml │ ├── bert_no_recon_image_augment.yaml │ ├── bert_no_reconstruction.yaml │ ├── bert_reconstruction.yaml │ ├── bert_reconstruction_residual.yaml │ ├── glove_no_reconstruction.yaml │ ├── glove_reconstruction.yaml │ ├── small_patch.yaml │ ├── small_patch_no_depth.yaml │ ├── small_patch_no_depth_glove.yaml │ ├── tuned_bert_small_patch.yaml │ ├── tuned_from_5.yaml │ ├── tuned_glove_small_patch.yaml │ ├── tuned_glove_small_patch_2.yaml │ ├── tuned_glove_small_patch_3.yaml │ ├── weight_1.5.yaml │ ├── weight_10.0.yaml │ ├── weight_2.0.yaml │ └── weight_2.5.yaml ├── navigation │ ├── transformer_base.yaml │ ├── transformer_local.yaml │ └── transformer_local_bert.yaml ├── patch_transformer │ ├── basic_patch.yaml │ ├── basic_softmax.yaml │ ├── best_tuned.yaml │ ├── fixed_encoding.yaml │ ├── large_patch.yaml │ ├── next_only.yaml │ ├── next_weighted.yaml │ ├── no_sharing.yaml │ ├── small_no_oh.yaml │ ├── tiny_patch.yaml │ ├── tiny_patch_batch_challenge.yaml │ └── tune_fixed.yaml ├── positional_transformer │ ├── bert.yaml │ ├── bert_best.yaml │ ├── bert_images.yaml │ ├── bert_residual.yaml │ ├── best_so_far.yaml │ └── big_glove.yaml ├── replicate_best_tfmr.yaml └── unet │ ├── best_so_far.yaml │ └── unet_best.yaml ├── create.py ├── data.py ├── debug.py ├── demo.py ├── downloads └── download-weights.sh ├── embedding_viz.ipynb ├── encoders.py ├── evaluate.py ├── evaluate_demo_correspondence.py ├── execute_tune.sh ├── execute_tune_gr.sh ├── finetune.sh ├── generate_cc_figure.py ├── generate_logoblocks_images.py ├── generate_sim_stacking_demo.py ├── grid_scripts ├── .test_transformer_test_filtered.sh.swp ├── compositionality.sh ├── compositionality_rows.sh ├── debug.sh ├── debug_gr.sh ├── debug_lang.sh ├── debug_navigation.sh ├── debug_transformer.sh ├── debug_unet.sh ├── debug_unet_gr.sh ├── eval_gr.sh ├── eval_transformer.sh ├── eval_unet.sh ├── generate_ex.sh ├── generate_gr.sh ├── generate_transformer.sh ├── generate_unet.sh ├── preprocess_navigation.sh ├── resume.sh ├── resume_transformer.sh ├── resume_with_blocks.sh ├── run_ablation.sh ├── run_ablation_no_pretrain.sh ├── test.sh ├── test_gpus.sh ├── test_gr.sh ├── test_navigation.sh ├── test_transformer.sh ├── test_transformer_dev_images.sh ├── test_transformer_test.sh ├── test_transformer_test_filtered.sh ├── test_transformer_test_images.sh ├── test_transformer_test_images_filtered.sh ├── test_unet.sh ├── test_unet_gr.sh ├── test_unet_test.sh ├── test_unet_test_filtered.sh ├── test_unet_test_images.sh ├── test_unet_test_images_filtered.sh ├── train_gr.sh ├── train_lang.sh ├── train_navigation.sh ├── train_no_blocks.sh ├── train_transformer.sh ├── train_unet.sh ├── train_unet_gr.sh ├── train_with_blocks.sh ├── tune_transformer.sh └── tune_transformer_gr.sh ├── gripper ├── Robotiq2FGripperTcpNode.py ├── __init__.py ├── baseRobotiq2FGripper.py ├── comModbusTcp.py ├── robotiq_2f_gripper_control_msg.py └── robotiq_2f_gripper_ctrl.py ├── image_encoder.py ├── images ├── Checkerboard_pattern.svg ├── calibration.gif ├── checkerboard.jpg ├── example_background_depth_map.png ├── method.jpg ├── self-supervision.gif ├── simulation.gif ├── simulation.jpg ├── teaser.jpg └── test-cases.jpg ├── lang_instructions.md ├── language.py ├── language_embedders.py ├── language_only.py ├── learning ├── __init__.py ├── datasets │ ├── __init__.py │ ├── aux_data_providers.py │ ├── dataset_real_sim.py │ ├── dynamic_ground_truth.py │ ├── dynamic_ground_truth_test.py │ ├── fpv_data_augmentation.py │ ├── fpv_image_dataset.py │ ├── masking.py │ ├── rss_noisy_poses.py │ ├── segment_dataset_simple.py │ ├── top_down_dataset.py │ ├── top_down_dataset_sm.py │ └── top_down_nav_dataset.py ├── dual_dataloader.py ├── inputs │ ├── __init__.py │ ├── aux_labels.py │ ├── common.py │ ├── partial_2d_distribution.py │ ├── pose.py │ ├── sequence.py │ └── vision.py ├── intrinsic_reward │ ├── __init__.py │ ├── abstract_intrinsic_reward.py │ ├── action_oob_reward.py │ ├── correct_goal_prediction_reward.py │ ├── distribution_entropy_reward.py │ ├── map_coverage_reward.py │ ├── p_visitation_and_exploration_reward.py │ ├── strict_wd_visitation_and_exploration_reward.py │ ├── visitation_and_exploration_reward.py │ ├── visitation_reward.py │ ├── wd_visitation_and_exploration_reward.py │ └── wd_visitation_and_exploration_reward_bak.py ├── meters_and_metrics │ ├── __init__.py │ ├── goal_map_success_rate.py │ ├── meter_server.py │ └── moving_average.py ├── model_pvn_keyboard_wrapper_bidomain.py ├── modules │ ├── __init__.py │ ├── action_loss.py │ ├── add_drone_pos_to_coverage_mask.py │ ├── add_drone_pos_to_coverage_mask_circular.py │ ├── affine_2d.py │ ├── auxiliaries │ │ ├── __init__.py │ │ ├── class_auxiliary.py │ │ ├── class_auxiliary_2d.py │ │ ├── feature_reg_auxiliary.py │ │ ├── goal_auxiliary.py │ │ ├── path_auxiliary.py │ │ ├── path_auxiliary_oob_goalonly.py │ │ └── visitation_confidence_auxiliary.py │ ├── auxiliary_losses.py │ ├── auxiliary_objective_base.py │ ├── blocks.py │ ├── crossentropy2d.py │ ├── cuda_module.py │ ├── dbg_writer.py │ ├── downsample_map │ │ ├── __init__.py │ │ └── downsample_res.py │ ├── gather_2d.py │ ├── goal_pred_criterion.py │ ├── gradient_noise.py │ ├── gs_fpv │ │ ├── __init__.py │ │ └── recurrent_embedding.py │ ├── identity.py │ ├── img_to_img │ │ ├── __init__.py │ │ ├── identity_img_to_img.py │ │ └── img_to_features.py │ ├── img_to_map │ │ ├── __init__.py │ │ ├── fpv_to_ego_map.py │ │ ├── fpv_to_fpv.py │ │ ├── fpv_to_global_map.py │ │ ├── identity_img_to_map.py │ │ ├── top_down_to_ego_img.py │ │ └── top_down_to_ego_map.py │ ├── key_tensor_store.py │ ├── map_accumulation │ │ ├── __init__.py │ │ └── identity_accumulator.py │ ├── map_to_action │ │ ├── __init__.py │ │ ├── cropped_map_to_action_triplet.py │ │ ├── ego_map_to_action_triplet.py │ │ └── global_map_to_action_triplet.py │ ├── map_to_map │ │ ├── __init__.py │ │ ├── draw_start_pos.py │ │ ├── identity_integrator.py │ │ ├── identity_map_to_map.py │ │ ├── lang_filter_map_to_map.py │ │ ├── leaky_integrator.py │ │ ├── leaky_integrator_w.py │ │ ├── map_batch_fill_missing.py │ │ ├── map_batch_select.py │ │ ├── path_predictor.py │ │ ├── random_perturb.py │ │ ├── ratio_path_predictor.py │ │ └── ratio_path_predictor_bak.py │ ├── map_transformer.py │ ├── map_transformer_base.py │ ├── map_transformer_fast.py │ ├── pvn │ │ ├── __init__.py │ │ ├── pvn_stage2_actionhead.py │ │ ├── pvn_stage2_rlbase.py │ │ └── pvn_stage2_valuehead.py │ ├── recurrent │ │ └── __init__.py │ ├── resnet │ │ ├── __init__.py │ │ ├── resnet_13.py │ │ ├── resnet_13_comp.py │ │ ├── resnet_13_light.py │ │ ├── resnet_13_s.py │ │ ├── resnet_15.py │ │ ├── resnet_15_comp.py │ │ ├── resnet_15_dilated.py │ │ ├── resnet_30.py │ │ ├── resnet_7.py │ │ ├── resnet_9_stride32.py │ │ └── resnet_conditional.py │ ├── rss │ │ ├── __init__.py │ │ ├── aux_landmark_classify.py │ │ ├── map_lang_semantic_filter.py │ │ ├── map_lang_spatial_filter.py │ │ └── multiscale_stack.py │ ├── sentence_embeddings │ │ ├── __init__.py │ │ ├── conditional_sentence_embedding_simple.py │ │ ├── sentence_embedding_loss.py │ │ ├── sentence_embedding_self_attention.py │ │ ├── sentence_embedding_self_attention_cond.py │ │ └── sentence_embedding_simple.py │ ├── spatial_softmax_2d.py │ ├── transforming │ │ ├── __init__.py │ │ └── semantic_map │ │ │ ├── __init__.py │ │ │ └── map_affine_fast.py │ ├── unet │ │ ├── __init__.py │ │ ├── lingunet_5.py │ │ ├── lingunet_5_dualhead.py │ │ ├── lingunet_5_oob.py │ │ ├── lingunet_5_s.py │ │ ├── unet_3.py │ │ ├── unet_3_contextual.py │ │ ├── unet_5_contextual.py │ │ ├── unet_5_contextual2.py │ │ ├── unet_5_contextual_bneck.py │ │ ├── unet_5_contextual_bneck3.py │ │ ├── unet_5_contextual_bneck3_2head.py │ │ └── unet_9_contextual.py │ └── visitation_softmax.py ├── training │ ├── __init__.py │ ├── fixed_distributions.py │ ├── ppo.py │ ├── rollout_storage.py │ ├── trainer_rl.py │ ├── trainer_supervised.py │ ├── trainer_supervised_bidomain.py │ └── trainer_supervised_bidomain_bidata.py └── utils.py ├── log_tools.py ├── logger.py ├── losses.py ├── main.py ├── make_comp_configs.py ├── metrics.py ├── mlp.py ├── models.py ├── navigation_data.py ├── navigation_transformer.py ├── objects ├── .ipynb_checkpoints │ └── Bisk_Background_Converter-checkpoint.ipynb ├── Bisk_Background_Converter.ipynb ├── bisk_blocks │ ├── adidas.mtl │ ├── adidas.obj │ ├── adidas.png │ ├── bmw.mtl │ ├── bmw.obj │ ├── bmw.png │ ├── burgerking.mtl │ ├── burgerking.obj │ ├── burgerking.png │ ├── cocacola.mtl │ ├── cocacola.obj │ ├── cocacola.png │ ├── cube.mtl │ ├── esso.mtl │ ├── esso.obj │ ├── esso.png │ ├── heineken.mtl │ ├── heineken.obj │ ├── heineken.png │ ├── hp.mtl │ ├── hp.obj │ ├── hp.png │ ├── mcdonalds.mtl │ ├── mcdonalds.obj │ ├── mcdonalds.png │ ├── mercedesbenz.mtl │ ├── mercedesbenz.obj │ ├── mercedesbenz.png │ ├── nvidia.mtl │ ├── nvidia.obj │ ├── nvidia.png │ ├── pepsi.mtl │ ├── pepsi.obj │ ├── pepsi.png │ ├── shell.mtl │ ├── shell.obj │ ├── shell.png │ ├── sri.mtl │ ├── sri.obj │ ├── sri.png │ ├── starbucks.mtl │ ├── starbucks.obj │ ├── starbucks.png │ ├── stella.mtl │ ├── stella.obj │ ├── stella.png │ ├── target.mtl │ ├── target.obj │ ├── target.png │ ├── texaco.mtl │ ├── texaco.obj │ ├── texaco.png │ ├── toyota.mtl │ ├── toyota.obj │ ├── toyota.png │ ├── twitter.mtl │ ├── twitter.obj │ ├── twitter.png │ ├── ups.mtl │ ├── ups.obj │ └── ups.png ├── bisk_blocks_original │ ├── adidas.mtl │ ├── adidas.obj │ ├── adidas.png │ ├── bmw.mtl │ ├── bmw.obj │ ├── bmw.png │ ├── burgerking.mtl │ ├── burgerking.obj │ ├── burgerking.png │ ├── cocacola.mtl │ ├── cocacola.obj │ ├── cocacola.png │ ├── cube.mtl │ ├── esso.mtl │ ├── esso.obj │ ├── esso.png │ ├── heineken.mtl │ ├── heineken.obj │ ├── heineken.png │ ├── hp.mtl │ ├── hp.obj │ ├── hp.png │ ├── mcdonalds.mtl │ ├── mcdonalds.obj │ ├── mcdonalds.png │ ├── mercedesbenz.mtl │ ├── mercedesbenz.obj │ ├── mercedesbenz.png │ ├── nvidia.mtl │ ├── nvidia.obj │ ├── nvidia.png │ ├── pepsi.mtl │ ├── pepsi.obj │ ├── pepsi.png │ ├── shell.mtl │ ├── shell.obj │ ├── shell.png │ ├── sri.mtl │ ├── sri.obj │ ├── sri.png │ ├── starbucks.mtl │ ├── starbucks.obj │ ├── starbucks.png │ ├── stella.mtl │ ├── stella.obj │ ├── stella.png │ ├── target.mtl │ ├── target.obj │ ├── target.png │ ├── texaco.mtl │ ├── texaco.obj │ ├── texaco.png │ ├── toyota.mtl │ ├── toyota.obj │ ├── toyota.png │ ├── twitter.mtl │ ├── twitter.obj │ ├── twitter.png │ ├── ups.mtl │ ├── ups.obj │ └── ups.png ├── blocks │ ├── 0.obj │ ├── 1.obj │ ├── 2.obj │ ├── 3.obj │ ├── 4.obj │ ├── 5.obj │ ├── 6.obj │ ├── 7.obj │ └── 8.obj ├── blocks_and_toys │ ├── 0.obj │ ├── 1.obj │ ├── 10.obj │ ├── 2.obj │ ├── 3.obj │ ├── 4.obj │ ├── 5.obj │ ├── 6.obj │ ├── 7.obj │ ├── 8.obj │ └── 9.obj ├── cube.obj ├── newbisklabels │ ├── adidas.png │ ├── bmw.png │ ├── burgerking.png │ ├── cocacola.png │ ├── esso.png │ ├── heineken.png │ ├── hp.png │ ├── mcdonalds.png │ ├── mercedesbenz.png │ ├── nvidia.png │ ├── pepsi.png │ ├── shell.png │ ├── sri.png │ ├── starbucks.png │ ├── stella.png │ ├── target.png │ ├── texaco.png │ ├── toyota.png │ ├── twitter.png │ └── ups.png └── toys │ ├── 0.obj │ ├── 1.obj │ ├── 2.obj │ ├── 3.obj │ ├── 4.obj │ ├── 6.obj │ ├── 7.obj │ └── 8.obj ├── obsolete_plot.py ├── old_robot.py ├── perception ├── __init__.py ├── camera_intrinsics.py ├── camera_sensor.py ├── chessboard_registration.py ├── cnn.py ├── colorized_phoxi_sensor.py ├── constants.py ├── detector.py ├── ensenso_sensor.py ├── exceptions.py ├── feature_extractors.py ├── feature_matcher.py ├── features.py ├── image.py ├── kinect2_sensor.py ├── object_render.py ├── opencv_camera_sensor.py ├── orthographic_intrinsics.py ├── phoxi_sensor.py ├── point_registration.py ├── primesense_sensor.py ├── realsense_sensor.py ├── rgbd_sensors.py ├── test.py ├── test_color.png ├── test_depth.png ├── version.py ├── video_recorder.py ├── webcam_sensor.py └── weight_sensor.py ├── plot.py ├── plot_success_rate ├── .ipynb_checkpoints │ └── calculate_successes-checkpoint.ipynb ├── 2019-09-13.19-55-21-train-rows-no-images-16.5k_success_plot.pdf ├── any-stack-v2-steps-37k │ └── transitions │ │ ├── clearance.log.txt │ │ ├── executed-action.log.txt │ │ ├── is-exploit.log.txt │ │ ├── label-value.log.txt │ │ ├── predicted-value.log.txt │ │ ├── reward-value.log.txt │ │ ├── stack-height.log.txt │ │ ├── trial.log.txt │ │ └── use-heuristic.log.txt ├── any-stack-v2-steps-37k_success_plot.pdf ├── calculate_successes.ipynb ├── check_row │ └── transitions │ │ ├── change-detected.log.txt │ │ ├── clearance.log.txt │ │ ├── executed-action.log.txt │ │ ├── grasp-success.log.txt │ │ ├── is-exploit.log.txt │ │ ├── label-value.log.txt │ │ ├── partial-stack-success.log.txt │ │ ├── place-success.log.txt │ │ ├── predicted-value.log.txt │ │ ├── reward-value.log.txt │ │ ├── stack-height.log.txt │ │ ├── trial-reward-value.log.txt │ │ ├── trial.log.txt │ │ └── use-heuristic.log.txt ├── first-grasp-to-stack-transfer-run-3k-actions-stack │ └── transitions │ │ ├── change-detected.log.txt │ │ ├── clearance.log.txt │ │ ├── executed-action.log.txt │ │ ├── grasp-success.log.txt │ │ ├── is-exploit.log.txt │ │ ├── label-value.log.txt │ │ ├── partial-stack-success.log.txt │ │ ├── place-success.log.txt │ │ ├── predicted-value.log.txt │ │ ├── reward-value.log.txt │ │ ├── stack-height.log.txt │ │ ├── trial-reward-value.log.txt │ │ ├── trial.log.txt │ │ └── use-heuristic.log.txt ├── grasp_efficiency.pdf ├── grasp_place_stack_efficiency.pdf ├── stack-4-blocks-training.pdf ├── train-grasp-place-split-efficientnet-21k-acc │ └── transitions │ │ ├── clearance.log.txt │ │ ├── executed-action.log.txt │ │ ├── is-exploit.log.txt │ │ ├── label-value.log.txt │ │ ├── predicted-value.log.txt │ │ ├── reward-value.log.txt │ │ ├── trial.log.txt │ │ └── use-heuristic.log.txt ├── train-grasp-place-split-efficientnet-21k-acc_success_plot.pdf └── transfer_efficiency.pdf ├── ply.py ├── pomdp ├── __init__.py ├── convert_action.py ├── pomdp_interface.py ├── reward │ ├── __init__.py │ ├── abstract_reward.py │ ├── correct_stop_reward.py │ ├── imitation_reward.py │ ├── path_field_reward.py │ └── path_reward.py └── state.py ├── rclone_copy.sh ├── real ├── CameraInfo.py ├── __init__.py ├── background_heightmap.depth.png ├── backup │ ├── camera_pose_GOOD.txt │ ├── robot_base_to_camera_pose.txt │ ├── tool_tip_to_ar_tag_transform.txt │ └── tool_tip_to_ar_tag_transform_identity.txt ├── camera.py ├── camera_intrinsic_ros_yaml.py ├── camera_param │ ├── CameraMatrixDepth.dat │ ├── CameraMatrixRGB.dat │ ├── DistortionCoefficientDepth.dat │ ├── DistortionCoefficientRGB.dat │ ├── ProjectionMatrixDepth.dat │ ├── ProjectionMatrixRGB.dat │ ├── RectificationMatrixDepth.dat │ └── RectificationMatrixRGB.dat ├── camera_pose (copy).txt ├── camera_pose_1108.txt ├── camera_pose_GOOD.txt ├── depth_PS1080_PrimeSense.yaml ├── rgb_PS1080_PrimeSense.yaml ├── robot_base_to_camera_pose.txt ├── robot_base_to_camera_pose_2020_01_08.txt ├── robot_base_to_camera_pose_2020_01_14_1524.txt ├── robot_base_to_camera_pose_2020_01_14_1543.txt ├── robot_base_to_camera_pose_GOOD.txt ├── robot_base_to_camera_pose_GOOD_MANUAL_2020_02_22.txt ├── ros_camera.py ├── tool_tip_to_ar_tag_transform-2020-01-15-18-07-18_calibration.txt ├── tool_tip_to_ar_tag_transform.txt ├── tool_tip_to_ar_tag_transform_2020_01_08.txt ├── tool_tip_to_ar_tag_transform_2020_01_14_1524.txt ├── tool_tip_to_ar_tag_transform_2020_01_14_1543.txt ├── tool_tip_to_ar_tag_transform_identity.txt └── tool_tip_to_ar_tag_transform_manual.txt ├── real_good_robot.code-workspace ├── realsense ├── CMakeLists.txt ├── example.hpp ├── realsense.cpp └── stb_easy_font.h ├── requirements.txt ├── robot.py ├── ros_aruco.py ├── simulation ├── __init__.py ├── logo-test-cases │ ├── test-1-obj-00.txt │ ├── test-10-obj-00.txt │ ├── test-10-obj-01.txt │ ├── test-10-obj-02.txt │ ├── test-10-obj-03.txt │ ├── test-10-obj-04.txt │ ├── test-10-obj-05.txt │ ├── test-10-obj-06.txt │ ├── test-10-obj-07.txt │ ├── test-10-obj-08.txt │ ├── test-10-obj-09.txt │ └── test-10-obj-10.txt ├── ply.py ├── remoteApi.dll ├── remoteApi.dylib ├── remoteApi.so ├── simulation.ttt ├── stack-test-cases │ ├── test-10-obj-00.txt │ ├── test-10-obj-01.txt │ ├── test-10-obj-03.txt │ ├── test-10-obj-04.txt │ ├── test-10-obj-05.txt │ ├── test-10-obj-07.txt │ ├── test-10-obj-08.txt │ ├── test-10-obj-09.txt │ └── test-10-obj-10.txt ├── test-cases-description.txt ├── test-cases │ ├── test-10-obj-00.txt │ ├── test-10-obj-01.txt │ ├── test-10-obj-02.txt │ ├── test-10-obj-03.txt │ ├── test-10-obj-04.txt │ ├── test-10-obj-05.txt │ ├── test-10-obj-06.txt │ ├── test-10-obj-07.txt │ ├── test-10-obj-08.txt │ ├── test-10-obj-09.txt │ └── test-10-obj-10.txt ├── visualization.py ├── vrep.py └── vrepConst.py ├── ssr.sh ├── subsample_gr_data.py ├── test_language_encoder.py ├── test_move.py ├── test_robotiq_2f_85_gripper.py ├── test_ros_images.py ├── test_stacking_script.py ├── test_stats.py ├── tmux_tune.sh ├── touch.py ├── train_language_encoder.py ├── train_language_only.py ├── train_offline.py ├── train_transformer.py ├── train_transformer_gr_data.py ├── train_transformer_navigation.py ├── train_unet.py ├── train_unet_gr_data.py ├── trainer.py ├── training_run_notes_costar.txt ├── training_run_notes_femur.txt ├── training_run_notes_language.txt ├── training_run_notes_spot.txt ├── transformer.py ├── trial_for_figure ├── best_stats.json ├── commandline_args.json ├── transitions │ ├── change-detected.log.csv │ ├── change-detected.log.txt │ ├── clearance.log.csv │ ├── clearance.log.txt │ ├── executed-action.log.csv │ ├── executed-action.log.txt │ ├── grasp-success.log.csv │ ├── grasp-success.log.txt │ ├── is-exploit.log.csv │ ├── is-exploit.log.txt │ ├── iteration.log.txt │ ├── label-value.log.csv │ ├── label-value.log.txt │ ├── partial-stack-success.log.csv │ ├── partial-stack-success.log.txt │ ├── place-success.log.csv │ ├── place-success.log.txt │ ├── predicted-value.log.csv │ ├── predicted-value.log.txt │ ├── reward-value.log.csv │ ├── reward-value.log.txt │ ├── stack-height.log.csv │ ├── stack-height.log.txt │ ├── trial-reward-value.log.csv │ ├── trial-reward-value.log.txt │ ├── trial-success.log.csv │ ├── trial-success.log.txt │ ├── trial.log.csv │ ├── 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