├── .gitignore ├── .gitmodules ├── CODE_OF_CONDUCT.md ├── LICENSE ├── README.md ├── SECURITY.md ├── SUPPORT.md ├── configs ├── habitat_localization.yaml ├── habitat_mapping.yaml ├── habitat_pretrain.yaml ├── mushr_localization.yaml ├── mushr_mapping.yaml └── mushr_pretrain.yaml ├── docker ├── Dockerfile └── environment.yml ├── docs ├── after_run.png ├── arch.png ├── deploy.png ├── lidargif.gif ├── pact_main.jpg ├── pact_main.png ├── pacttask.png ├── trajgif.gif ├── trajs_debug.png └── trajs_final.png ├── mushr_sim ├── README.md ├── __init__.py ├── config.yml ├── data │ └── bravern_floor.pgm ├── data_utils.py ├── data_writer.py ├── lidar.py ├── maps │ ├── bravern_floor.png │ └── bravern_floor_blur2.png ├── merge_jsons.py ├── mushr_deploy_env.py ├── mushr_env.py ├── planner.py └── sim_utils.py ├── setup.cfg ├── setup.py ├── src ├── __init__.py ├── callbacks.py ├── datamodules │ ├── __init__.py │ ├── dataset_config.py │ ├── dataset_utils.py │ ├── habitat_datamodule.py │ ├── habitat_dataset_disk.py │ ├── mushr_datamodule.py │ ├── mushr_dataset_disk.py │ └── mushr_dataset_memory.py ├── models │ ├── __init__.py │ ├── localization.py │ ├── mapping.py │ ├── modules │ │ ├── decoder_utils.py │ │ ├── head_utils.py │ │ ├── minGPT.py │ │ ├── modeling_pact.py │ │ ├── tokenizer_pact.py │ │ └── tokenizer_utils.py │ └── pretrain.py └── train.py └── utils ├── __init__.py ├── geom_utils.py ├── lr_scheduler.py ├── meters.py └── pl_utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/microsoft/PACT/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/microsoft/PACT/HEAD/.gitmodules -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: 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