├── README.md ├── exp_config ├── base_task_config │ ├── imagenav_gibson.yaml │ └── imagenav_mp3d.yaml ├── ddppo_imagenav_gibson.yaml └── ddppo_imagenav_mp3d.yaml ├── figs └── framework.png ├── habitat-lab ├── .circleci │ └── config.yml ├── .editorconfig ├── .github │ ├── ISSUE_TEMPLATE │ │ ├── bug-report.md │ │ ├── feature-request.md │ │ └── questions-help-support.md │ └── PULL_REQUEST_TEMPLATE.md ├── .gitignore ├── .pre-commit-config.yaml ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── DATASETS.md ├── DETAILS.md ├── Dockerfile ├── LICENSE ├── MANIFEST.in ├── README.md ├── docs │ ├── .gitignore │ ├── build-public.sh │ ├── build.sh │ ├── conf-public.py │ ├── conf.py │ ├── docs.rst │ └── pages │ │ ├── habitat-lab-demo.png │ │ ├── habitat-lab-demo.rst │ │ ├── habitat-sim-demo.png │ │ ├── habitat-sim-demo.rst │ │ ├── index.rst │ │ ├── quickstart.png │ │ ├── quickstart.rst │ │ ├── view-transform-warp.png │ │ └── view-transform-warp.rst ├── examples │ ├── __init__.py │ ├── benchmark.py │ ├── display_utils.py │ ├── example.py │ ├── example_pointnav.py │ ├── franka_blockstacking_example.py │ ├── franka_example.py │ ├── interactive_play.py │ ├── new_actions.py │ ├── register_new_sensors_and_measures.py │ ├── shortest_path_follower_example.py │ ├── tutorials │ │ ├── colabs │ │ │ ├── Habitat2_Quickstart.ipynb │ │ │ ├── Habitat_Lab.ipynb │ │ │ └── habitat2_gym_tutorial.ipynb │ │ ├── nb_python │ │ │ ├── Habitat2_Quickstart.py │ │ │ ├── Habitat_Lab.py │ │ │ └── habitat2_gym_tutorial.py │ │ └── polymetis_example.ipynb │ ├── visualization_examples.py │ ├── vln_benchmark.py │ └── vln_reference_path_follower_example.py ├── habitat-baselines │ ├── habitat_baselines │ │ ├── README.md │ │ ├── __init__.py │ │ ├── agents │ │ │ ├── __init__.py │ │ │ ├── mp_agents.py │ │ │ ├── ppo_agents.py │ │ │ ├── simple_agents.py │ │ │ └── slam_agents.py │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── base_il_trainer.py │ │ │ ├── base_trainer.py │ │ │ ├── baseline_registry.py │ │ │ ├── construct_vector_env.py │ │ │ ├── logging.py │ │ │ ├── obs_transformers.py │ │ │ ├── rollout_storage.py │ │ │ ├── tensor_dict.py │ │ │ ├── tensorboard_utils.py │ │ │ └── windowed_running_mean.py │ │ ├── config │ │ │ ├── __init__.py │ │ │ ├── default.py │ │ │ ├── default_structured_configs.py │ │ │ ├── eqa │ │ │ │ ├── il_eqa_cnn_pretrain.yaml │ │ │ │ ├── il_pacman_nav.yaml │ │ │ │ └── il_vqa.yaml │ │ │ ├── imagenav │ │ │ │ ├── ddppo_imagenav_example.yaml │ │ │ │ ├── ddppo_imagenav_gibson.yaml │ │ │ │ └── ppo_imagenav_example.yaml │ │ │ ├── instance_imagenav │ │ │ │ └── ddppo_instance_imagenav.yaml │ │ │ ├── objectnav │ │ │ │ ├── ddppo_objectnav.yaml │ │ │ │ └── ddppo_objectnav_hm3d.yaml │ │ │ ├── pointnav │ │ │ │ ├── ddppo_pointnav.yaml │ │ │ │ ├── ppo_pointnav.yaml │ │ │ │ ├── ppo_pointnav_example.yaml │ │ │ │ └── ppo_pointnav_habitat_iccv19.yaml │ │ │ ├── rearrange │ │ │ │ ├── ddppo_close_cab.yaml │ │ │ │ ├── ddppo_close_fridge.yaml │ │ │ │ ├── ddppo_nav_to_obj.yaml │ │ │ │ ├── ddppo_open_cab.yaml │ │ │ │ ├── ddppo_open_fridge.yaml │ │ │ │ ├── ddppo_pick.yaml │ │ │ │ ├── ddppo_place.yaml │ │ │ │ ├── ddppo_reach_state.yaml │ │ │ │ ├── hab │ │ │ │ │ ├── ddppo_nav_pick.yaml │ │ │ │ │ ├── ddppo_nav_pick_nav_place.yaml │ │ │ │ │ ├── ddppo_prepare_groceries.yaml │ │ │ │ │ ├── ddppo_rearrange.yaml │ │ │ │ │ ├── ddppo_rearrange_easy.yaml │ │ │ │ │ ├── ddppo_set_table.yaml │ │ │ │ │ ├── ddppo_tidy_house.yaml │ │ │ │ │ ├── tp_srl.yaml │ │ │ │ │ └── tp_srl_oracle_nav.yaml │ │ │ │ ├── spap_pick.yaml │ │ │ │ └── spap_reach_state.yaml │ │ │ ├── test │ │ │ │ ├── ddppo_imagenav_test.yaml │ │ │ │ ├── ddppo_instance_imagenav_test.yaml │ │ │ │ ├── ddppo_pointnav_test.yaml │ │ │ │ ├── ppo_imagenav_test.yaml │ │ │ │ └── ppo_pointnav_test.yaml │ │ │ └── tp_srl_test │ │ │ │ └── tp_srl_test.yaml │ │ ├── il │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── metrics.py │ │ │ ├── models │ │ │ │ ├── __init__.py │ │ │ │ └── models.py │ │ │ ├── requirements.txt │ │ │ └── trainers │ │ │ │ ├── __init__.py │ │ │ │ ├── eqa_cnn_pretrain_trainer.py │ │ │ │ ├── pacman_trainer.py │ │ │ │ └── vqa_trainer.py │ │ ├── motion_planning │ │ │ ├── __init__.py │ │ │ ├── grasp_generator.py │ │ │ ├── motion_plan.py │ │ │ ├── mp_sim.py │ │ │ ├── mp_spaces.py │ │ │ └── robot_target.py │ │ ├── py.typed │ │ ├── rl │ │ │ ├── __init__.py │ │ │ ├── ddppo │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── algo │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── ddppo.py │ │ │ │ ├── data_generation │ │ │ │ │ ├── create_gibson_large_dataset.py │ │ │ │ │ └── gibson_dset_with_qual.json │ │ │ │ ├── ddp_utils.py │ │ │ │ ├── multi_node_slurm.sh │ │ │ │ ├── policy │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── resnet.py │ │ │ │ │ ├── resnet_policy.py │ │ │ │ │ └── running_mean_and_var.py │ │ │ │ ├── requirements.txt │ │ │ │ └── single_node.sh │ │ │ ├── hrl │ │ │ │ ├── __init__.py │ │ │ │ ├── hierarchical_policy.py │ │ │ │ ├── high_level_policy.py │ │ │ │ ├── skills │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── art_obj.py │ │ │ │ │ ├── nav.py │ │ │ │ │ ├── nn_skill.py │ │ │ │ │ ├── oracle_nav.py │ │ │ │ │ ├── pick.py │ │ │ │ │ ├── place.py │ │ │ │ │ ├── reset.py │ │ │ │ │ ├── skill.py │ │ │ │ │ └── wait.py │ │ │ │ └── utils.py │ │ │ ├── models │ │ │ │ ├── __init__.py │ │ │ │ ├── action_embedding.py │ │ │ │ ├── rnn_state_encoder.py │ │ │ │ └── simple_cnn.py │ │ │ ├── ppo │ │ │ │ ├── __init__.py │ │ │ │ ├── cpc_aux_loss.py │ │ │ │ ├── policy.py │ │ │ │ ├── ppo.py │ │ │ │ └── ppo_trainer.py │ │ │ ├── requirements.txt │ │ │ └── ver │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── ci-requirements.txt │ │ │ │ ├── environment_worker.py │ │ │ │ ├── images │ │ │ │ └── ver-system.svg │ │ │ │ ├── inference_worker.py │ │ │ │ ├── preemption_decider.py │ │ │ │ ├── queue.py │ │ │ │ ├── report_worker.py │ │ │ │ ├── requirements.txt │ │ │ │ ├── task_enums.py │ │ │ │ ├── timing.py │ │ │ │ ├── ver_rollout_storage.py │ │ │ │ ├── ver_trainer.py │ │ │ │ └── worker_common.py │ │ ├── run.py │ │ ├── slambased │ │ │ ├── README.md │ │ │ ├── __init__.py │ │ │ ├── install_deps.sh │ │ │ ├── mappers.py │ │ │ ├── monodepth.py │ │ │ ├── path_planners.py │ │ │ ├── reprojection.py │ │ │ ├── requirements.txt │ │ │ └── utils.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── common.py │ │ │ └── visualizations │ │ │ │ ├── __init__.py │ │ │ │ └── utils.py │ │ └── version.py │ └── setup.py ├── habitat-lab │ ├── habitat │ │ ├── __init__.py │ │ ├── config │ │ │ ├── __init__.py │ │ │ ├── datasets │ │ │ │ ├── eqa │ │ │ │ │ └── mp3d.yaml │ │ │ │ ├── imagenav │ │ │ │ │ ├── gibson.yaml │ │ │ │ │ └── mp3d.yaml │ │ │ │ ├── instance_imagenav │ │ │ │ │ └── hm3d.yaml │ │ │ │ ├── objectnav │ │ │ │ │ ├── hm3d.yaml │ │ │ │ │ └── mp3d.yaml │ │ │ │ ├── pointnav │ │ │ │ │ ├── gibson.yaml │ │ │ │ │ ├── gibson_0_plus.yaml │ │ │ │ │ ├── gibson_v2.yaml │ │ │ │ │ ├── habitat_test.yaml │ │ │ │ │ ├── hm3d.yaml │ │ │ │ │ └── mp3d.yaml │ │ │ │ ├── rearrangepick │ │ │ │ │ └── replica_cad.yaml │ │ │ │ └── vln │ │ │ │ │ └── mp3d_r2r.yaml │ │ │ ├── default.py │ │ │ ├── default_structured_configs.py │ │ │ ├── read_write.py │ │ │ ├── tasks │ │ │ │ ├── eqa_mp3d.yaml │ │ │ │ ├── franka_point.yaml │ │ │ │ ├── imagenav.yaml │ │ │ │ ├── imagenav_gibson.yaml │ │ │ │ ├── instance_imagenav_hm3d.yaml │ │ │ │ ├── objectnav_hm3d.yaml │ │ │ │ ├── objectnav_mp3d.yaml │ │ │ │ ├── pointnav.yaml │ │ │ │ ├── pointnav_gibson.yaml │ │ │ │ ├── pointnav_hm3d.yaml │ │ │ │ ├── pointnav_mp3d.yaml │ │ │ │ ├── pointnav_rgbd.yaml │ │ │ │ ├── rearrange │ │ │ │ │ ├── benchmark │ │ │ │ │ │ ├── idle.yaml │ │ │ │ │ │ ├── idle_single_camera.yaml │ │ │ │ │ │ └── interact.yaml │ │ │ │ │ ├── close_cab.yaml │ │ │ │ │ ├── close_fridge.yaml │ │ │ │ │ ├── nav_pick.yaml │ │ │ │ │ ├── nav_pick_nav_place.yaml │ │ │ │ │ ├── nav_to_obj.yaml │ │ │ │ │ ├── open_cab.yaml │ │ │ │ │ ├── open_fridge.yaml │ │ │ │ │ ├── pddl │ │ │ │ │ │ ├── nav_pick.yaml │ │ │ │ │ │ ├── nav_pick_nav_place.yaml │ │ │ │ │ │ ├── prepare_groceries.yaml │ │ │ │ │ │ ├── rearrange.yaml │ │ │ │ │ │ ├── rearrange_easy.yaml │ │ │ │ │ │ ├── set_table.yaml │ │ │ │ │ │ └── tidy_house.yaml │ │ │ │ │ ├── pick.yaml │ │ │ │ │ ├── pick_spa.yaml │ │ │ │ │ ├── place.yaml │ │ │ │ │ ├── play.yaml │ │ │ │ │ ├── prepare_groceries.yaml │ │ │ │ │ ├── reach_state.yaml │ │ │ │ │ ├── rearrange.yaml │ │ │ │ │ ├── rearrange_easy.yaml │ │ │ │ │ ├── rearrange_easy_multi_agent.yaml │ │ │ │ │ ├── set_table.yaml │ │ │ │ │ └── tidy_house.yaml │ │ │ │ └── vln_r2r.yaml │ │ │ └── test │ │ │ │ ├── habitat_all_sensors_test.yaml │ │ │ │ ├── habitat_hm3d_instance_image_nav_test.yaml │ │ │ │ ├── habitat_mp3d_eqa_test.yaml │ │ │ │ ├── habitat_mp3d_object_nav_test.yaml │ │ │ │ ├── habitat_r2r_vln_test.yaml │ │ │ │ └── new_keys_test.yaml │ │ ├── core │ │ │ ├── __init__.py │ │ │ ├── agent.py │ │ │ ├── benchmark.py │ │ │ ├── challenge.py │ │ │ ├── dataset.py │ │ │ ├── embodied_task.py │ │ │ ├── env.py │ │ │ ├── environments.py │ │ │ ├── gym_env_episode_count_wrapper.py │ │ │ ├── gym_env_obs_dict_wrapper.py │ │ │ ├── logging.py │ │ │ ├── registry.py │ │ │ ├── simulator.py │ │ │ ├── spaces.py │ │ │ ├── utils.py │ │ │ └── vector_env.py │ │ ├── datasets │ │ │ ├── __init__.py │ │ │ ├── eqa │ │ │ │ ├── __init__.py │ │ │ │ └── mp3d_eqa_dataset.py │ │ │ ├── image_nav │ │ │ │ ├── __init__.py │ │ │ │ └── instance_image_nav_dataset.py │ │ │ ├── object_nav │ │ │ │ ├── __init__.py │ │ │ │ └── object_nav_dataset.py │ │ │ ├── pointnav │ │ │ │ ├── __init__.py │ │ │ │ ├── pointnav_dataset.py │ │ │ │ └── pointnav_generator.py │ │ │ ├── rearrange │ │ │ │ ├── __init__.py │ │ │ │ ├── combine_datasets.py │ │ │ │ ├── configs │ │ │ │ │ ├── all_receptacles.yaml │ │ │ │ │ ├── bench_config.yaml │ │ │ │ │ ├── empty.yaml │ │ │ │ │ ├── hab │ │ │ │ │ │ ├── prepare_groceries.yaml │ │ │ │ │ │ ├── rearrange.yaml │ │ │ │ │ │ ├── rearrange_easy.yaml │ │ │ │ │ │ ├── set_table.yaml │ │ │ │ │ │ └── tidy_house.yaml │ │ │ │ │ ├── in_drawer.yaml │ │ │ │ │ ├── in_fridge.yaml │ │ │ │ │ └── test_config.yaml │ │ │ │ ├── generate_episode_inits.py │ │ │ │ ├── rearrange_dataset.py │ │ │ │ ├── rearrange_generator.py │ │ │ │ ├── run_episode_generator.py │ │ │ │ └── samplers │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── art_sampler.py │ │ │ │ │ ├── object_sampler.py │ │ │ │ │ ├── object_target_sampler.py │ │ │ │ │ ├── receptacle.py │ │ │ │ │ └── scene_sampler.py │ │ │ ├── registration.py │ │ │ ├── utils.py │ │ │ └── vln │ │ │ │ ├── __init__.py │ │ │ │ └── r2r_vln_dataset.py │ │ ├── py.typed │ │ ├── robots │ │ │ ├── __init__.py │ │ │ ├── fetch_robot.py │ │ │ ├── fetch_suction.py │ │ │ ├── franka_robot.py │ │ │ ├── manipulator.py │ │ │ ├── mobile_manipulator.py │ │ │ ├── robot_base.py │ │ │ ├── robot_interface.py │ │ │ └── static_manipulator.py │ │ ├── sims │ │ │ ├── __init__.py │ │ │ ├── habitat_simulator │ │ │ │ ├── __init__.py │ │ │ │ ├── actions.py │ │ │ │ ├── debug_visualizer.py │ │ │ │ ├── habitat_simulator.py │ │ │ │ └── sim_utilities.py │ │ │ ├── pyrobot │ │ │ │ ├── __init__.py │ │ │ │ └── pyrobot.py │ │ │ └── registration.py │ │ ├── tasks │ │ │ ├── __init__.py │ │ │ ├── eqa │ │ │ │ ├── __init__.py │ │ │ │ └── eqa.py │ │ │ ├── nav │ │ │ │ ├── __init__.py │ │ │ │ ├── instance_image_nav_task.py │ │ │ │ ├── nav.py │ │ │ │ ├── object_nav_task.py │ │ │ │ └── shortest_path_follower.py │ │ │ ├── rearrange │ │ │ │ ├── __init__.py │ │ │ │ ├── actions │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── actions.py │ │ │ │ │ ├── grip_actions.py │ │ │ │ │ ├── oracle_nav_action.py │ │ │ │ │ ├── pddl_actions.py │ │ │ │ │ └── robot_action.py │ │ │ │ ├── marker_info.py │ │ │ │ ├── multi_task │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── composite_sensors.py │ │ │ │ │ ├── composite_task.py │ │ │ │ │ ├── domain_configs │ │ │ │ │ │ └── replica_cad.yaml │ │ │ │ │ ├── pddl_action.py │ │ │ │ │ ├── pddl_domain.py │ │ │ │ │ ├── pddl_logical_expr.py │ │ │ │ │ ├── pddl_predicate.py │ │ │ │ │ ├── pddl_sim_state.py │ │ │ │ │ ├── rearrange_pddl.py │ │ │ │ │ └── task_creator_utils.py │ │ │ │ ├── policy_modules.py │ │ │ │ ├── rearrange_grasp_manager.py │ │ │ │ ├── rearrange_sensors.py │ │ │ │ ├── rearrange_sim.py │ │ │ │ ├── rearrange_task.py │ │ │ │ ├── robot_manager.py │ │ │ │ ├── sub_tasks │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── articulated_object_sensors.py │ │ │ │ │ ├── articulated_object_task.py │ │ │ │ │ ├── nav_to_obj_sensors.py │ │ │ │ │ ├── nav_to_obj_task.py │ │ │ │ │ ├── pick_sensors.py │ │ │ │ │ ├── pick_task.py │ │ │ │ │ ├── place_sensors.py │ │ │ │ │ ├── place_task.py │ │ │ │ │ ├── reach_sensors.py │ │ │ │ │ └── reach_task.py │ │ │ │ └── utils.py │ │ │ ├── registration.py │ │ │ ├── utils.py │ │ │ └── vln │ │ │ │ ├── __init__.py │ │ │ │ └── vln.py │ │ ├── utils │ │ │ ├── __init__.py │ │ │ ├── common.py │ │ │ ├── env_utils.py │ │ │ ├── geometry_utils.py │ │ │ ├── gym_adapter.py │ │ │ ├── gym_definitions.py │ │ │ ├── pickle5_multiprocessing.py │ │ │ ├── profiling_wrapper.py │ │ │ ├── render_wrapper.py │ │ │ ├── test_utils.py │ │ │ └── visualizations │ │ │ │ ├── __init__.py │ │ │ │ ├── assets │ │ │ │ └── maps_topdown_agent_sprite │ │ │ │ │ └── 100x100.png │ │ │ │ ├── fog_of_war.py │ │ │ │ ├── maps.py │ │ │ │ └── utils.py │ │ └── version.py │ ├── requirements.txt │ └── setup.py ├── mypy.ini ├── pyproject.toml ├── res │ └── img │ │ ├── habitat_compressed.gif │ │ ├── habitat_lab_structure.png │ │ ├── habitat_logo_with_text_horizontal_blue.png │ │ └── tensorboard_video_demo.gif ├── scripts │ ├── generate_profile_shell_scripts.py │ └── hab2_bench │ │ ├── README.md │ │ ├── bench_runner.sh │ │ ├── hab2_benchmark.py │ │ └── plot_bench.py ├── setup.cfg └── test │ ├── test_baseline_agents.py │ ├── test_baseline_resnet.py │ ├── test_baseline_trainers.py │ ├── test_baseline_training.py │ ├── test_baselines_hydra.py │ ├── test_config.py │ ├── test_dataset.py │ ├── test_ddppo_reduce.py │ ├── test_demo_notebook.py │ ├── test_examples.py │ ├── test_gather_objects.py │ ├── test_gym_wrapper.py │ ├── test_habitat_env.py │ ├── test_habitat_example.py │ ├── test_habitat_sim.py │ ├── test_habitat_task.py │ ├── test_hydra.py │ ├── test_install.py │ ├── test_instance_image_nav_task.py │ ├── test_motion_plan.py │ ├── test_mp3d_eqa.py │ ├── test_object_nav_task.py │ ├── test_obs_transformers.py │ ├── test_pointnav_dataset.py │ ├── test_pyrobot.py │ ├── test_r2r_vln.py │ ├── test_rearrange_task.py │ ├── test_rnn_state_encoder.py │ ├── test_robot_wrapper.py │ ├── test_sensors.py │ ├── test_spaces.py │ ├── test_tensor_dict.py │ └── test_visual_utils.py ├── requirements.txt ├── run.py └── src ├── common ├── meter.py └── utils.py ├── config ├── REGNav.yaml ├── dataset-hm3d.yaml ├── dataset-mp3d.yaml ├── dataset.yaml ├── eval.yaml ├── policy.yaml ├── reward.yaml ├── sensors.yaml └── v2.yaml ├── dataset.py ├── diffusion.py ├── environment.py ├── metric.py ├── midfusion.py ├── models.py ├── nohup.out ├── policy.py ├── pooling.py ├── renet.py ├── resnet.py ├── resnet_re.py ├── result_train_fgprompt.out ├── sensor.py ├── trainer.py ├── transforms.py ├── utils.py └── 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