├── .gitignore ├── LICENSE ├── README.md ├── aruco ├── 99-webcam.rules ├── README.md ├── calibrate_charuco.py ├── camera-params │ └── E4298F4E.yml ├── create_charuco_board.py ├── create_markers.py ├── create_trash_receptacle.py ├── detect_markers.py ├── images │ ├── board-corner-side.jpg │ ├── board-corners.jpg │ ├── cube.jpg │ ├── robot-side.jpg │ └── robot-top.jpg ├── printouts │ ├── charuco-board.pdf │ ├── markers-corners.pdf │ ├── markers-cubes.pdf │ ├── markers-robots.pdf │ └── trash-receptacle.pdf ├── server.py ├── simple_client.py └── utils.py ├── assets ├── corner.obj ├── plane.obj.template ├── plane.urdf.template └── robot.urdf ├── config ├── experiments │ ├── base │ │ ├── large_columns.yml │ │ ├── large_divider.yml │ │ ├── small_columns.yml │ │ └── small_empty.yml │ ├── fixed-step-size │ │ ├── large_columns-fixed_step_size.yml │ │ ├── large_divider-fixed_step_size.yml │ │ ├── small_columns-fixed_step_size.yml │ │ └── small_empty-fixed_step_size.yml │ ├── no-partial-rewards │ │ ├── large_columns-no_partial_rewards.yml │ │ ├── large_divider-no_partial_rewards.yml │ │ ├── small_columns-no_partial_rewards.yml │ │ └── small_empty-no_partial_rewards.yml │ ├── shortest-path-ablations │ │ ├── large_columns-no_sp_components.yml │ │ ├── large_columns-no_sp_from_agent.yml │ │ ├── large_columns-no_sp_in_rewards.yml │ │ ├── large_columns-no_sp_movement.yml │ │ ├── large_columns-no_sp_to_receptacle.yml │ │ ├── large_divider-no_sp_components.yml │ │ ├── large_divider-no_sp_from_agent.yml │ │ ├── large_divider-no_sp_in_rewards.yml │ │ ├── large_divider-no_sp_movement.yml │ │ ├── large_divider-no_sp_to_receptacle.yml │ │ ├── small_columns-no_sp_components.yml │ │ ├── small_columns-no_sp_from_agent.yml │ │ ├── small_columns-no_sp_in_rewards.yml │ │ ├── small_columns-no_sp_movement.yml │ │ ├── small_columns-no_sp_to_receptacle.yml │ │ ├── small_empty-no_sp_components.yml │ │ └── small_empty-no_sp_from_agent.yml │ └── steering-commands │ │ ├── large_columns-steering_commands-no_sp_components.yml │ │ ├── large_columns-steering_commands.yml │ │ ├── large_divider-steering_commands-no_sp_components.yml │ │ ├── large_divider-steering_commands.yml │ │ ├── small_columns-steering_commands-no_sp_components.yml │ │ ├── small_columns-steering_commands.yml │ │ ├── small_empty-steering_commands-no_sp_components.yml │ │ └── small_empty-steering_commands.yml ├── local │ └── small_empty-local.yml └── templates │ └── small_empty.yml ├── download-pretrained.sh ├── enjoy.py ├── environment.py ├── eval_summary.ipynb ├── evaluate.py ├── models.py ├── policies.py ├── requirements.txt ├── resnet.py ├── spfa ├── .gitignore ├── demo.py ├── setup.py └── src │ └── main.cpp ├── stl ├── blade.stl ├── board-corner.stl └── cube.stl ├── tools_click_agent.py ├── tools_generate_experiments.py ├── train.py ├── utils.py ├── vector_action_executor.py ├── vector_click_agent.py ├── vector_controller.py ├── vector_enjoy.py ├── vector_keep_still.py ├── 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