├── .clang-format ├── .gitattributes ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── README.md ├── RHCR ├── CMakeLists.txt ├── README.md ├── inc │ ├── BasicGraph.h │ ├── BasicSystem.h │ ├── BeeGraph.h │ ├── BeeSystem.h │ ├── ECBS.h │ ├── ECBSNode.h │ ├── ID.h │ ├── KivaGraph.h │ ├── KivaSystem.h │ ├── LRAStar.h │ ├── MAPFSolver.h │ ├── ManufactureGraph.h │ ├── ManufactureSystem.h │ ├── OnlineGraph.h │ ├── OnlineSystem.h │ ├── PBS.h │ ├── PBSNode.h │ ├── PathTable.h │ ├── PriorityGraph.h │ ├── ReservationTable.h │ ├── SIPP.h │ ├── SingleAgentSolver.h │ ├── SortingGraph.h │ ├── SortingSystem.h │ ├── StateTimeAStar.h │ ├── States.h │ ├── WHCAStar.h │ ├── common.h │ ├── helper.h │ └── nlohmann │ │ └── json.hpp └── src │ ├── BasicGraph.cpp │ ├── BasicSystem.cpp │ ├── BeeGraph.cpp │ ├── BeeSystem.cpp │ ├── ECBS.cpp │ ├── ECBSNode.cpp │ ├── ID.cpp │ ├── KivaGraph.cpp │ ├── KivaSystem.cpp │ ├── LRAStar.cpp │ ├── MAPFSolver.cpp │ ├── ManufactureGraph.cpp │ ├── ManufactureSystem.cpp │ ├── OnlineGraph.cpp │ ├── OnlineSystem.cpp │ ├── PBS.cpp │ ├── PBSNode.cpp │ ├── PathTable.cpp │ ├── PriorityGraph.cpp │ ├── ReservationTable.cpp │ ├── SIPP.cpp │ ├── SingleAgentSolver.cpp │ ├── SortingGraph.cpp │ ├── SortingSystem.cpp │ ├── StateTimeAStar.cpp │ ├── States.cpp │ ├── WHCAStar.cpp │ ├── WarehouseSimulation.cpp │ ├── common.cpp │ ├── driver.cpp │ └── helper.cpp ├── config ├── competition │ ├── CMA_ES_PIBT_32x32_random-map_150-agents.gin │ ├── CMA_ES_PIBT_32x32_random-map_400-agents.gin │ ├── CMA_ES_PIBT_den312d_1200-agents.gin │ ├── CMA_ES_PIBT_empty-48-48_1000-agents.gin │ ├── CMA_ES_PIBT_game-ost003d-194-194_6000-agents.gin │ ├── CMA_ES_PIBT_maze-32-32-4_400-agents.gin │ ├── CMA_ES_PIBT_random-64-64-8_1500-agents.gin │ ├── CMA_ES_PIBT_room-64-64-8_1500-agents.gin │ ├── CMA_ES_PIBT_warehouse-33x36_150-agents.gin │ ├── CMA_ES_PIBT_warehouse-33x36_400-agents.gin │ ├── base.gin │ ├── cma_es_bounds_ablation │ │ ├── CMA_ES_PIBT_32x32_random-map_400-agents_projection.gin │ │ ├── CMA_ES_PIBT_32x32_random-map_400-agents_reflection.gin │ │ └── CMA_ES_PIBT_32x32_random-map_400-agents_transformation.gin │ ├── cnn_iter_update │ │ ├── CMA_ES_PIBT_32x32_random-map_150-agents_iter_update.gin │ │ ├── CMA_ES_PIBT_32x32_random-map_400-agents_iter_update.gin │ │ ├── CMA_ES_PIBT_den312d_1200-agents_iter_update.gin │ │ ├── CMA_ES_PIBT_empty-48-48_1000-agents_iter_update.gin │ │ ├── CMA_ES_PIBT_maze-32-32-4_400-agents_iter_update.gin │ │ ├── CMA_ES_PIBT_random-64-64-20_1500-agents_iter_update.gin │ │ ├── CMA_ES_PIBT_room-64x64_1500-agents_iter_update.gin │ │ ├── CMA_ES_PIBT_warehouse-33x36_150-agents_iter_update.gin │ │ ├── CMA_ES_PIBT_warehouse-33x36_400-agents_iter_update.gin │ │ └── demo │ │ │ └── CMA_ES_PIBT_32x32_random-map_400-agents_iter_update.gin │ ├── demo │ │ └── CMA_ES_PIBT_warehouse-33x36_400-agents.gin │ ├── pure_iter_update │ │ ├── cnn_random_32-32_600_agents.gin │ │ ├── cnn_random_48-48_600_agents.gin │ │ ├── cnn_room-64-64.gin │ │ ├── cnn_warehouse_33x36.gin │ │ ├── cnn_warehouse_45x47.gin │ │ ├── cnn_warehouse_57x58.gin │ │ ├── cnn_warehouse_69x69.gin │ │ ├── cnn_warehouse_81x80.gin │ │ └── cnn_warehouse_93x91.gin │ └── pure_simulation │ │ └── PIBT.gin ├── hpc │ ├── run_cpu.sh │ └── run_gpu.sh └── warehouse │ ├── CMA_ES_DPP_17x20_human-map_88_agents.gin │ ├── CMA_ES_RHCR_33x36_human-map_220_agents_one_wait.gin │ ├── base.gin │ ├── cma_es_bounds_ablation │ ├── CMA_ES_DPP_17x20_human-map_88_agents_projection.gin │ ├── CMA_ES_DPP_17x20_human-map_88_agents_reflection.gin │ ├── CMA_ES_DPP_17x20_human-map_88_agents_transformation.gin │ ├── CMA_ES_RHCR_33x36_human-map_220_agents_one_wait_projection.gin │ ├── CMA_ES_RHCR_33x36_human-map_220_agents_one_wait_reflection.gin │ └── CMA_ES_RHCR_33x36_human-map_220_agents_one_wait_transformation.gin │ ├── cnn_iter_update │ ├── CMA_ES_RHCR_21x25_human-map_120_agents_iter_update_one_wait.gin │ ├── CMA_ES_RHCR_32x32_human-map_100-agents_iter_update.gin │ └── CMA_ES_RHCR_32x32_human-map_200-agents_iter_update.gin │ ├── pure_iter_update │ ├── cnn_DPP_human_map_200_agents.gin │ └── cnn_RHCR_human_map_200_agents.gin │ └── pure_simulation │ ├── LRA.gin │ ├── RHCR.gin │ ├── RHCR_left_w.gin │ ├── RHCR_left_w_no_stop_jam.gin │ ├── RHCR_no_stop_jam.gin │ ├── RHCR_no_stop_jam_visualize.gin │ ├── RHCR_visualize.gin │ ├── RHCR_with_log.gin │ ├── RHCR_xxlarge.gin │ ├── RHCR_xxlarge_left_w.gin │ ├── RHCR_xxlarge_left_w_no_stop_jam.gin │ ├── RHCR_xxlarge_no_stop_jam.gin │ ├── dummy_path.gin │ ├── dummy_path_no_stop_jam.gin │ ├── dummy_path_with_log.gin │ └── hold_endpoint.gin ├── dask_config.yml ├── env_search ├── __init__.py ├── analysis │ ├── convert_map_format.py │ ├── edge_weight_dist.py │ ├── figures.py │ ├── gen_crisscross_baseline.py │ ├── gen_expert_baseline.py │ ├── gen_table.py │ ├── heatmap.py │ ├── map_metrics.py │ ├── rewrite_map.py │ ├── scalability_across_size.py │ ├── throughput_thr_time.py │ ├── throughput_thr_time_cross.py │ ├── throughput_thr_time_w_n_agents_cross.py │ ├── throughput_vs_n_agents.py │ ├── throughput_vs_n_agents_cross.py │ ├── tile_usage.py │ ├── utils.py │ ├── visualize_env.py │ └── visualize_highway.py ├── archives │ ├── __init__.py │ ├── grid_archive.py │ └── grid_archive_test.py ├── competition │ ├── __init__.py │ ├── competition_manager.py │ ├── competition_result.py │ ├── config.py │ ├── emulation_model │ │ ├── __init__.py │ │ ├── aug_buffer.py │ │ ├── buffer.py │ │ ├── double_aug_buffer.py │ │ ├── emulation_model.py │ │ ├── networks.py │ │ └── test_emulation_model.py │ ├── module.py │ ├── run.py │ └── update_model │ │ ├── __init__.py │ │ ├── update_model.py │ │ └── utils.py ├── device.py ├── emitters │ ├── __init__.py │ ├── evolution_strategy_emitter.py │ ├── map_elites_baseline_emitter.py │ ├── opt │ │ └── _cma_es.py │ ├── pycma_es_emitter.py │ ├── pycma_es_emitter_test.py │ └── random_emitter.py ├── iterative_update │ ├── __init__.py │ ├── algo.py │ ├── env.py │ ├── gen_highway.py │ └── run_highway.py ├── main.py ├── manager.py ├── mpl_styles │ ├── __init__.py │ ├── archive_visualization.mplstyle │ ├── comparison.mplstyle │ ├── heatmap.mplstyle │ ├── simple.mplstyle │ ├── tile_usage_heatmap.mplstyle │ └── utils.py ├── schedulers │ ├── __init__.py │ └── scheduler.py ├── utils │ ├── __init__.py │ ├── deprecation.py │ ├── logging.py │ ├── metric_logger.py │ ├── metric_logger_benchmark.py │ ├── network.py │ ├── text_plot.py │ └── worker_state.py └── warehouse │ ├── __init__.py │ ├── config.py │ ├── emulation_model │ ├── __init__.py │ ├── aug_buffer.py │ ├── buffer.py │ ├── double_aug_buffer.py │ ├── emulation_model.py │ ├── networks.py │ └── test_emulation_model.py │ ├── module.py │ ├── run.py │ ├── update_model │ ├── __init__.py │ └── update_model.py │ ├── warehouse_manager.py │ └── warehouse_result.py ├── g_graph ├── kiva_33x36_human_cma-es_opt_220_agents.csv ├── kiva_dpp_17x20_human_cma-es_opt_88_agents.csv ├── pibt_den312d_cma-es-piu_1200_agents_four-way-move_g_graph.csv ├── pibt_den312d_cma-es_1200_agents_four-way-move_g_graph.csv ├── pibt_empty-48-48_cma-es-piu_1000_agents_four-way-move_g_graph.csv ├── pibt_empty-48-48_cma-es_1000_agents_four-way-move_g_graph.csv ├── pibt_maze-32-32-4_cma-es-piu_400_agents_four-way-move_g_graph.csv ├── pibt_maze-32-32-4_cma-es_400_agents_four-way-move_g_graph.csv ├── pibt_random-64-64-20_cma-es-piu_1500_agents_four-way-move_g_graph.csv ├── pibt_random-64-64-20_cma-es_1500_agents_four-way-move_g_graph.csv ├── pibt_random_cma-es_32x32_400_agents_four-way-move.csv ├── pibt_random_cma-es_piu-transfer_32x32_400_agents_four-way-move.csv ├── pibt_random_unweight_32x32_alternate_baseline_bi-directed.csv ├── pibt_room_cma-es-piu-transfer_64x64_1500_agents_four-way-move.json.csv ├── pibt_room_cma-es_64x64_1500_agents_four-way-move.csv ├── pibt_warehouse-33x36_w_mode_cma-es-piu-transfer_400_agents_four-way-move.csv └── pibt_warehouse-33x36_w_mode_cma-es_400_agents_four-way-move.csv ├── maps ├── competition │ ├── expert_baseline │ │ ├── pibt_den312d_HM_baseline.json │ │ ├── pibt_den312d_flow_baseline.json │ │ ├── pibt_empty-48-48_HM_baseline.json │ │ ├── pibt_empty-48-48_flow_baseline.json │ │ ├── pibt_maze-32-32-4_HM_baseline.json │ │ ├── pibt_maze-32-32-4_flow_baseline.json │ │ ├── pibt_random-64-64-20_HM_baseline.json │ │ ├── pibt_random-64-64-20_flow_baseline.json │ │ ├── pibt_random_unweight_32x32_HM_baseline.json │ │ ├── pibt_random_unweight_32x32_flow_baseline.json │ │ ├── pibt_room-64-64-8_HM_baseline.json │ │ ├── pibt_room-64-64-8_flow_baseline.json │ │ ├── pibt_warehouse_33x36_w_mode_HM_baseline.json │ │ ├── pibt_warehouse_33x36_w_mode_flow_baseline.json │ │ ├── pibt_warehouse_45x47_w_mode_HM_baseline.json │ │ ├── pibt_warehouse_45x47_w_mode_flow_baseline.json │ │ ├── pibt_warehouse_57x58_w_mode_HM_baseline.json │ │ ├── pibt_warehouse_57x58_w_mode_flow_baseline.json │ │ ├── pibt_warehouse_69x69_w_mode_HM_baseline.json │ │ ├── pibt_warehouse_69x69_w_mode_flow_baseline.json │ │ ├── pibt_warehouse_81x80_w_mode_HM_baseline.json │ │ ├── pibt_warehouse_81x80_w_mode_flow_baseline.json │ │ ├── pibt_warehouse_93x91_w_mode_HM_baseline.json │ │ └── pibt_warehouse_93x91_w_mode_flow_baseline.json │ ├── human │ │ ├── pibt_den312d.json │ │ ├── pibt_den312d_alternate_baseline_bi-directed.json │ │ ├── pibt_empty-48-48.json │ │ ├── pibt_empty-48-48_alternate_baseline_bi-directed.json │ │ ├── pibt_game-ost003d-194-194.json │ │ ├── pibt_maze-32-32-4.json │ │ ├── pibt_maze-32-32-4_alternate_baseline_bi-directed.json │ │ ├── pibt_random-64-64-20.json │ │ ├── pibt_random-64-64-20_alternate_baseline_bi-directed.json │ │ ├── pibt_random_unweight_32x32.json │ │ ├── pibt_random_unweight_32x32_alternate_baseline_bi-directed.json │ │ ├── pibt_random_unweight_48x48.json │ │ ├── pibt_random_unweight_48x48_alternate_baseline_bi-directed.json │ │ ├── pibt_room-64-64-8.json │ │ ├── pibt_room-64-64-8_alternate_baseline_bi-directed.json │ │ ├── pibt_warehouse_33x36_w_mode.json │ │ ├── pibt_warehouse_33x36_w_mode_alternate_baseline_bi-directed.json │ │ ├── pibt_warehouse_45x47_w_mode.json │ │ ├── pibt_warehouse_45x47_w_mode_alternate_baseline_bi-directed.json │ │ ├── pibt_warehouse_57x58_w_mode.json │ │ ├── pibt_warehouse_57x58_w_mode_alternate_baseline_bi-directed.json │ │ ├── pibt_warehouse_69x69_w_mode.json │ │ ├── pibt_warehouse_69x69_w_mode_alternate_baseline_bi-directed.json │ │ ├── pibt_warehouse_81x80_w_mode.json │ │ ├── pibt_warehouse_81x80_w_mode_alternate_baseline_bi-directed.json │ │ ├── pibt_warehouse_93x91_w_mode.json │ │ └── pibt_warehouse_93x91_w_mode_alternate_baseline_bi-directed.json │ └── ours │ │ ├── pibt_den312d_cma-es-piu_1200_agents_four-way-move.json │ │ ├── pibt_den312d_cma-es_1200_agents_four-way-move.json │ │ ├── pibt_empty-48-48_cma-es-piu_1000_agents_four-way-move.json │ │ ├── pibt_empty-48-48_cma-es_1000_agents_four-way-move.json │ │ ├── pibt_maze-32-32-4_cma-es-piu_400_agents_four-way-move.json │ │ ├── pibt_maze-32-32-4_cma-es_400_agents_four-way-move.json │ │ ├── pibt_random-64-64-20_cma-es-piu_1500_agents_four-way-move.json │ │ ├── pibt_random-64-64-20_cma-es_1500_agents_four-way-move.json │ │ ├── pibt_random_cma-es_32x32_400_agents_four-way-move.json │ │ ├── pibt_random_cma-es_32x32_400_agents_four-way-move_projection.json │ │ ├── pibt_random_cma-es_32x32_400_agents_four-way-move_reflection.json │ │ ├── pibt_random_cma-es_32x32_400_agents_four-way-move_transformation.json │ │ ├── pibt_random_cma-es_piu-transfer_32x32_400_agents_four-way-move.json │ │ ├── pibt_room_cma-es-piu-transfer_64x64_1500_agents_four-way-move.json │ │ ├── pibt_room_cma-es-piu_64x64_1500_agents_four-way-move.json │ │ ├── pibt_room_cma-es_64x64_1500_agents_four-way-move.json │ │ ├── pibt_warehouse-33x36_w_mode_cma-es-piu-transfer_150_agents_four-way-move.json │ │ ├── pibt_warehouse-33x36_w_mode_cma-es-piu-transfer_220_agents_four-way-move.json │ │ ├── pibt_warehouse-33x36_w_mode_cma-es-piu-transfer_400_agents_four-way-move.json │ │ ├── pibt_warehouse-33x36_w_mode_cma-es-piu-transfer_400_agents_four-way-move_n_piu=1.json │ │ ├── pibt_warehouse-33x36_w_mode_cma-es-piu-transfer_400_agents_four-way-move_n_piu=30.json │ │ ├── pibt_warehouse-33x36_w_mode_cma-es-piu-transfer_400_agents_four-way-move_n_piu=50.json │ │ ├── pibt_warehouse-33x36_w_mode_cma-es_150_agents_four-way-move.json │ │ ├── pibt_warehouse-33x36_w_mode_cma-es_220_agents_four-way-move.json │ │ └── pibt_warehouse-33x36_w_mode_cma-es_400_agents_four-way-move.json └── warehouse │ ├── expert_baseline │ ├── kiva_human_45x47_w_mode_HM_baseline.json │ ├── kiva_human_45x47_w_mode_flow_baseline.json │ ├── kiva_large_w_mode_HM_baseline.json │ ├── kiva_large_w_mode_flow_baseline.json │ ├── kiva_small_r_mode_HM_baseline.json │ └── kiva_small_r_mode_flow_baseline.json │ ├── human │ ├── additional_eval │ │ ├── kiva_human_45x47_w_mode.json │ │ ├── kiva_human_57x58_w_mode.json │ │ ├── kiva_human_69x69_w_mode.json │ │ ├── kiva_human_81x80_w_mode.json │ │ └── kiva_human_93x91_w_mode.json │ ├── kiva_large_w_mode.json │ ├── kiva_large_w_mode_alternate_baseline.json │ ├── kiva_small_r_mode.json │ ├── kiva_small_r_mode_alternate_baseline_bi-directed.json │ └── to_show │ │ ├── kiva_large_w_mode.json │ │ ├── kiva_medium_2x2_w_mode.json │ │ ├── kiva_small_2x2_w_mode.json │ │ └── kiva_small_r_mode.json │ └── ours │ ├── kiva_33x36_human_cma-es_opt_200_agents.json │ ├── kiva_33x36_human_cma-es_opt_220_agents.json │ ├── kiva_33x36_human_cma-es_opt_220_agents_projection.json │ ├── kiva_33x36_human_cma-es_opt_220_agents_reflection.json │ ├── kiva_33x36_human_cma-es_opt_220_agents_transformation.json │ └── kiva_dpp_17x20_human_cma-es_opt_88_agents.json ├── piu_model └── competition │ ├── pibt_den312d_1200_agents_four-way-move.json │ ├── pibt_empty-48-48_1000_agents_four-way-move.json │ ├── pibt_maze-32-32-4_400_agents_four-way-move.json │ ├── pibt_random-64-64-20_1500_four-way-move.json │ ├── pibt_random_32x32_220_agents_four-way-move.json │ ├── pibt_random_32x32_400_agents_four-way-move.json │ ├── pibt_room-64x64_1500_agents_four-way-move.json │ ├── pibt_warehouse-33x36_w_mode_150_agents_four-way-move.json │ ├── pibt_warehouse-33x36_w_mode_220_agents_four-way-move.json │ └── pibt_warehouse-33x36_w_mode_400_agents_four-way-move.json ├── pyproject.toml ├── requirements.txt ├── requirements_cn.txt ├── scripts ├── convert_map_format.sh ├── edge_weight_dist.sh ├── gen_crisscross_baseline.sh ├── gen_expert_baseline.sh ├── iter_update.sh ├── piu_gen_highway.sh ├── piu_run_highway.sh ├── plot_envs_in_dir.sh ├── plot_figures.sh ├── plot_heatmap.sh ├── plot_heatmap_in_dir.sh ├── plot_scalability_across_size.sh ├── plot_throughput.sh ├── plot_throughput_n_agents_in_dir.sh ├── plot_throughput_thr_time_in_dir.sh ├── plot_tile_usage.sh ├── plot_tile_usage_in_dir.sh ├── 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