├── .gitignore ├── AUTHORS ├── LICENSE ├── README.md ├── SPDX.spdx ├── docker ├── Dockerfile ├── gym-aquaticus │ ├── README.md │ ├── docs │ │ └── gym-aquaticus-rlagent.pdf │ ├── gym_aquaticus │ │ ├── __init__.py │ │ ├── envs │ │ │ ├── __init__.py │ │ │ ├── aquaticus_agent.py │ │ │ ├── aquaticus_team_env.py │ │ │ ├── aquaticus_team_env_wrappers.py │ │ │ ├── config.py │ │ │ └── pyquaticus_team_env_bridge.py │ │ └── utils.py │ └── setup.py ├── missions_pyquaticus │ ├── README-MISSION-AUTONOMY │ ├── aquaticus_params.txt │ ├── blue.sh │ ├── clean.sh │ ├── demo_1v1.sh │ ├── demo_2v2.sh │ ├── launch_blue.sh │ ├── launch_boat.sh │ ├── launch_demo.sh │ ├── launch_red.sh │ ├── plug_iSay.moos │ ├── plug_origin_warp.moos │ ├── plug_pDeadManPost.moos │ ├── plug_pHostInfo.moos │ ├── plug_pNodeReporter.moos │ ├── plug_pShare.moos │ ├── plug_uFldMessageHandler.moos │ ├── plug_uFldNodeBroker.moos │ ├── plug_uLoadWatch.moos │ ├── pyquaticus_bridge_single_boat.py │ ├── pyquaticus_bridge_single_sim.py │ ├── pyquaticus_bridge_test.py │ ├── rand_action_env_test.py │ ├── rllib_policies │ │ ├── attacker-1-policy │ │ │ └── policy_state.pkl │ │ └── defender-0-policy │ │ │ └── policy_state.pkl │ ├── shoreside │ │ ├── Map_18_77141-77144_97943-97947.info │ │ ├── Map_18_77141-77144_97943-97947.tif │ │ ├── attic │ │ │ ├── plug_pLogger.moos │ │ │ ├── plug_pMarineViewer.moos │ │ │ ├── plug_uFZEUntag.moos │ │ │ ├── plug_uFldFlagManager.moos │ │ │ ├── plug_uFldNodeComms.moos │ │ │ ├── plug_uFldShoreBroker.moos │ │ │ ├── plug_uFldTagManager.moos │ │ │ └── plug_uProcessWatch.moos │ │ ├── clean.sh │ │ ├── launch_shoreside.sh │ │ ├── meta_shoreside.moos │ │ ├── popolopen.info │ │ ├── popolopen.tif │ │ ├── popolopen19_esrisat.info │ │ ├── popolopen19_esrisat.tif │ │ └── sounds │ ├── surveyor │ │ ├── clean.sh │ │ ├── launch_surveyor.sh │ │ ├── meta_surveyor.bhv │ │ ├── meta_surveyor.moos │ │ ├── plug_iM1_8.moos │ │ ├── plug_pBasicContactMgr.moos │ │ ├── plug_pBotDialog.moos │ │ ├── plug_pHelmIvP.moos │ │ ├── plug_pLogger.moos │ │ ├── plug_pMarinePID.moos │ │ ├── plug_pRangeEvent.moos │ │ ├── plug_pZoneTrackOpponents.moos │ │ ├── plug_uProcessWatch.moos │ │ └── plug_uSimMarine.moos │ └── xbox_test.py ├── moos-ivp-rlagent │ ├── .gitignore │ ├── CMakeLists.txt │ ├── build.sh │ ├── clean.sh │ ├── docs │ │ ├── gym-aquaticus-rlagent.pdf │ │ └── tex │ │ │ └── gym-aquaticus-rlagent.tex │ ├── missions │ │ └── 20230712_aug_2022_new_platform_valhalla │ │ │ ├── README-MISSION-AUTONOMY │ │ │ ├── aquaticus_params.txt │ │ │ ├── clean.sh │ │ │ ├── config.py │ │ │ ├── launch_demo.sh │ │ │ ├── plug_iSay.moos │ │ │ ├── plug_origin_warp.moos │ │ │ ├── plug_pDeadManPost.moos │ │ │ ├── plug_pHostInfo.moos │ │ │ ├── plug_pNodeReporter.moos │ │ │ ├── plug_pShare.moos │ │ │ ├── plug_uFldMessageHandler.moos │ │ │ ├── plug_uFldNodeBroker.moos │ │ │ ├── plug_uLoadWatch.moos │ │ │ ├── run_agent.py │ │ │ ├── shoreside │ │ │ ├── Map_18_77141-77144_97943-97947.info │ │ │ ├── Map_18_77141-77144_97943-97947.tif │ │ │ ├── attic │ │ │ │ ├── plug_pLogger.moos │ │ │ │ ├── plug_pMarineViewer.moos │ │ │ │ ├── plug_uFZEUntag.moos │ │ │ │ ├── plug_uFldFlagManager.moos │ │ │ │ ├── plug_uFldNodeComms.moos │ │ │ │ ├── plug_uFldShoreBroker.moos │ │ │ │ ├── plug_uFldTagManager.moos │ │ │ │ └── plug_uProcessWatch.moos │ │ │ ├── clean.sh │ │ │ ├── launch_shoreside.sh │ │ │ ├── launch_shoreside_train.sh │ │ │ ├── meta_shoreside.moos │ │ │ ├── meta_shoreside_train.moos │ │ │ ├── popolopen.info │ │ │ ├── popolopen.tif │ │ │ ├── popolopen19_esrisat.info │ │ │ ├── popolopen19_esrisat.tif │ │ │ └── sounds │ │ │ └── surveyor │ │ │ ├── clean.sh │ │ │ ├── launch_surveyor.sh │ │ │ ├── meta_surveyor.bhv │ │ │ ├── meta_surveyor.moos │ │ │ ├── plug_iM1_8.moos │ │ │ ├── plug_pBasicContactMgr.moos │ │ │ ├── plug_pBotDialog.moos │ │ │ ├── plug_pHelmIvP.moos │ │ │ ├── plug_pLogger.moos │ │ │ ├── plug_pMarinePID.moos │ │ │ ├── plug_pRangeEvent.moos │ │ │ ├── plug_pZoneTrackOpponents.moos │ │ │ ├── plug_uProcessWatch.moos │ │ │ └── plug_uSimMarine.moos │ ├── scripts │ │ └── README │ └── src │ │ ├── CMakeLists.txt │ │ ├── lib_behaviors │ │ ├── BHV_RLAgent.cpp │ │ ├── BHV_RLAgent.h │ │ ├── CMakeLists.txt │ │ └── README │ │ └── pRLMonitor │ │ ├── CMakeLists.txt │ │ ├── RLMonitor.cpp │ │ ├── RLMonitor.h │ │ ├── RLMonitor_Info.cpp │ │ ├── RLMonitor_Info.h │ │ ├── main.cpp │ │ └── pRLMonitor.moos ├── requirements.txt ├── run_docker.sh └── scripts │ └── killAllMOOS.sh ├── moos ├── .gitignore ├── missions │ ├── arrowkeys_moos_test.py │ ├── charles-2025 │ │ ├── README │ │ ├── arrowkeys_moos_test.py │ │ ├── clean.sh │ │ ├── genop.sh │ │ ├── launch_shoreside.sh │ │ ├── launch_sim_demo.sh │ │ ├── launch_vehicle.sh │ │ ├── meta_common.bhv │ │ ├── meta_shoreside.moos │ │ ├── meta_vehicle.bhv │ │ ├── meta_vehicle.moos │ │ └── plugs.moos │ └── wp-2025 │ │ ├── README-MISSION-AUTONOMY │ │ ├── clean.sh │ │ ├── jerop.sh │ │ ├── launch_demo.sh │ │ ├── launch_demo2.sh │ │ ├── launch_demo3.sh │ │ ├── launch_sim_demo.sh │ │ ├── plug_origin_warp.moos │ │ ├── plug_pHostInfo.moos │ │ ├── plug_pRoleChooser.moos │ │ ├── plug_pShare.moos │ │ ├── plug_uLoadWatch.moos │ │ ├── shoreside │ │ ├── clean.sh │ │ ├── jerop.sh │ │ ├── launch_shoreside.sh │ │ ├── meta_shoreside.moos │ │ ├── popolopen.info │ │ ├── popolopen.tif │ │ └── sounds │ │ │ ├── README │ │ │ ├── aoogah.wav │ │ │ ├── buzzer.wav │ │ │ ├── defend_because_on_our_side.wav │ │ │ ├── deny_post_invalid_vehicle_name.wav │ │ │ ├── deny_post_name_unknown_to_flag_manager.wav │ │ │ ├── deny_post_no_flags_to_grab.wav │ │ │ ├── deny_post_no_one_in_range.wav │ │ │ ├── hal_truth.wav │ │ │ ├── quick_bell.wav │ │ │ ├── sf-arrested.wav │ │ │ ├── sf-dingo.wav │ │ │ ├── sf-no-soup.wav │ │ │ ├── shipbell.wav │ │ │ ├── t1_be_back.wav │ │ │ ├── t2_affirmative.wav │ │ │ ├── t2_hasta_la_vista.wav │ │ │ ├── t2_no_problemo.wav │ │ │ ├── t3_programmed.wav │ │ │ ├── tag_denied.wav │ │ │ └── tennis_grunt.wav │ │ └── surveyor │ │ ├── aquaticus3.opt │ │ ├── attic │ │ ├── launch_surveyor_bak.sh │ │ ├── meta_surveyor_mitx.bhv │ │ ├── meta_surveyor_orig.bhv │ │ ├── plug_pBasicContactMgr.moos │ │ └── plug_pBotDialog.moos │ │ ├── clean.sh │ │ ├── common.bhv │ │ ├── common_mit.bhv │ │ ├── jerop.sh │ │ ├── launch_surveyor.sh │ │ ├── meta_surveyor.bhv │ │ ├── meta_surveyor.moos │ │ ├── meta_surveyor.moos.save │ │ ├── meta_surveyor_kevin0.bhv │ │ ├── meta_surveyor_kevin1.bhv │ │ ├── meta_surveyor_kevin2.bhv │ │ ├── meta_surveyor_kevin3.bhv │ │ ├── meta_surveyor_kevin4.bhv │ │ ├── meta_surveyor_pav1.bhv │ │ ├── meta_surveyor_pav2.bhv │ │ ├── meta_surveyor_pav3.bhv │ │ ├── meta_surveyor_pav4.bhv │ │ ├── meta_surveyor_pav6.bhv │ │ ├── plug_iM1_8.moos │ │ ├── plug_pAquaticusStateMgr.moos │ │ ├── plug_pHelmIvP.moos │ │ ├── plug_pHelmIvP.moos.save │ │ ├── plug_pLogger.moos │ │ ├── plug_pZoneTrackOpponents.moos │ │ ├── plug_uProcessWatch.moos │ │ └── plug_uSimMarine.moos └── moos-ivp-rlagent │ ├── CMakeLists.txt │ ├── build.sh │ ├── clean.sh │ ├── docs │ ├── gym-aquaticus-rlagent.pdf │ └── tex │ │ └── gym-aquaticus-rlagent.tex │ ├── scripts │ └── README │ └── src │ ├── CMakeLists.txt │ ├── lib_behaviors │ ├── BHV_RLAgent.cpp │ ├── BHV_RLAgent.h │ ├── CMakeLists.txt │ └── README │ └── pRLMonitor │ ├── CMakeLists.txt │ ├── RLMonitor.cpp │ ├── RLMonitor.h │ ├── RLMonitor_Info.cpp │ ├── RLMonitor_Info.h │ ├── main.cpp │ └── pRLMonitor.moos ├── pyproject.toml ├── pyquaticus ├── __init__.py ├── base_policies │ ├── README.MD │ ├── __init__.py │ ├── base_attack.py │ ├── base_combined.py │ ├── base_defend.py │ ├── base_policy.py │ ├── base_policy_wrappers.py │ ├── deprecated │ │ ├── base.py │ │ ├── base_attack.py │ │ ├── base_combined.py │ │ └── base_defend.py │ ├── env_waypoint_policy.py │ ├── key_agent.py │ ├── rrt │ │ ├── rrt_star.py │ │ └── utils.py │ ├── utils.py │ └── waypoint_policy.py ├── config.py ├── dynamics │ ├── dynamics.py │ ├── dynamics_registry.py │ └── dynamics_utils.py ├── envs │ ├── __init__.py │ ├── old_wrapper.py │ ├── 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