├── .dockerignore ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── Dockerfile ├── Doxyfile ├── LICENSE ├── README.md ├── README_Matterport3DSimulator.md ├── cmake └── Modules │ └── FindNumPy.cmake ├── connectivity ├── 17DRP5sb8fy_connectivity.json ├── 1LXtFkjw3qL_connectivity.json ├── 1pXnuDYAj8r_connectivity.json ├── 29hnd4uzFmX_connectivity.json ├── 2azQ1b91cZZ_connectivity.json ├── 2n8kARJN3HM_connectivity.json ├── 2t7WUuJeko7_connectivity.json ├── 5LpN3gDmAk7_connectivity.json ├── 5ZKStnWn8Zo_connectivity.json ├── 5q7pvUzZiYa_connectivity.json ├── 759xd9YjKW5_connectivity.json ├── 7y3sRwLe3Va_connectivity.json ├── 8194nk5LbLH_connectivity.json ├── 82sE5b5pLXE_connectivity.json ├── 8WUmhLawc2A_connectivity.json ├── ARNzJeq3xxb_connectivity.json ├── B6ByNegPMKs_connectivity.json ├── D7G3Y4RVNrH_connectivity.json ├── D7N2EKCX4Sj_connectivity.json ├── E9uDoFAP3SH_connectivity.json ├── EDJbREhghzL_connectivity.json ├── EU6Fwq7SyZv_connectivity.json ├── GdvgFV5R1Z5_connectivity.json ├── HxpKQynjfin_connectivity.json ├── JF19kD82Mey_connectivity.json ├── JeFG25nYj2p_connectivity.json ├── JmbYfDe2QKZ_connectivity.json ├── PX4nDJXEHrG_connectivity.json ├── Pm6F8kyY3z2_connectivity.json ├── PuKPg4mmafe_connectivity.json ├── QUCTc6BB5sX_connectivity.json ├── README.md ├── RPmz2sHmrrY_connectivity.json ├── S9hNv5qa7GM_connectivity.json ├── SN83YJsR3w2_connectivity.json ├── TbHJrupSAjP_connectivity.json ├── ULsKaCPVFJR_connectivity.json ├── UwV83HsGsw3_connectivity.json ├── Uxmj2M2itWa_connectivity.json ├── V2XKFyX4ASd_connectivity.json ├── VFuaQ6m2Qom_connectivity.json ├── VLzqgDo317F_connectivity.json ├── VVfe2KiqLaN_connectivity.json ├── Vt2qJdWjCF2_connectivity.json ├── Vvot9Ly1tCj_connectivity.json ├── VzqfbhrpDEA_connectivity.json ├── WYY7iVyf5p8_connectivity.json ├── X7HyMhZNoso_connectivity.json ├── XcA2TqTSSAj_connectivity.json ├── YFuZgdQ5vWj_connectivity.json ├── YVUC4YcDtcY_connectivity.json ├── YmJkqBEsHnH_connectivity.json ├── Z6MFQCViBuw_connectivity.json ├── ZMojNkEp431_connectivity.json ├── aayBHfsNo7d_connectivity.json ├── ac26ZMwG7aT_connectivity.json ├── b8cTxDM8gDG_connectivity.json ├── cV4RVeZvu5T_connectivity.json ├── dhjEzFoUFzH_connectivity.json ├── e9zR4mvMWw7_connectivity.json ├── fzynW3qQPVF_connectivity.json ├── gTV8FGcVJC9_connectivity.json ├── gYvKGZ5eRqb_connectivity.json ├── gZ6f7yhEvPG_connectivity.json ├── gxdoqLR6rwA_connectivity.json ├── i5noydFURQK_connectivity.json ├── jh4fc5c5qoQ_connectivity.json ├── jtcxE69GiFV_connectivity.json ├── kEZ7cmS4wCh_connectivity.json ├── mJXqzFtmKg4_connectivity.json ├── oLBMNvg9in8_connectivity.json ├── p5wJjkQkbXX_connectivity.json ├── pLe4wQe7qrG_connectivity.json ├── pRbA3pwrgk9_connectivity.json ├── pa4otMbVnkk_connectivity.json ├── q9vSo1VnCiC_connectivity.json ├── qoiz87JEwZ2_connectivity.json ├── r1Q1Z4BcV1o_connectivity.json ├── r47D5H71a5s_connectivity.json ├── rPc6DW4iMge_connectivity.json ├── rqfALeAoiTq_connectivity.json ├── s8pcmisQ38h_connectivity.json ├── sKLMLpTHeUy_connectivity.json ├── sT4fr6TAbpF_connectivity.json ├── scans.txt ├── scans_dialog.txt ├── uNb9QFRL6hY_connectivity.json ├── ur6pFq6Qu1A_connectivity.json ├── vyrNrziPKCB_connectivity.json ├── wc2JMjhGNzB_connectivity.json ├── x8F5xyUWy9e_connectivity.json ├── yqstnuAEVhm_connectivity.json └── zsNo4HB9uLZ_connectivity.json ├── img_features └── .gitkeep ├── include ├── Benchmark.hpp ├── Catch.hpp ├── MatterSim.hpp ├── NavGraph.hpp └── cbf.h ├── models └── ResNet-152-deploy.prototxt ├── scripts ├── depth_to_skybox.py ├── downsize_skybox.py ├── fill_depth.py ├── precompute_img_features.py ├── precompute_optimal_policies.py └── timer.py ├── src ├── driver │ ├── driver.py │ └── mattersim_main.cpp ├── lib │ ├── Benchmark.cpp │ ├── MatterSim.cpp │ ├── NavGraph.cpp │ ├── cbf.cpp │ ├── fragment.sh │ └── vertex.sh ├── lib_python │ └── MatterSimPython.cpp └── test │ ├── main.cpp │ ├── python_test.py │ └── rendertest_spec.json ├── tasks ├── CVDN │ └── data │ │ ├── README.md │ │ └── download.sh ├── NDH │ ├── agent.py │ ├── data │ │ ├── README.md │ │ └── download.sh │ ├── env.py │ ├── eval.py │ ├── model.py │ ├── requirements.txt │ ├── summarize_perf.py │ ├── train.py │ └── utils.py └── NDH_NavHistConcat │ ├── agent.py │ ├── data │ └── download.sh │ ├── env.py │ ├── eval.py │ ├── model.py │ ├── plot.py │ ├── train.py │ └── utils.py ├── teaser ├── demo_video.png ├── full_demo-1.png └── model-1.png ├── web └── mturk │ ├── Dockerfile │ ├── README.md │ ├── apache-config.conf │ ├── docker │ ├── build.sh │ ├── run_prod.sh │ ├── run_server.sh │ └── run_www.sh │ ├── scripts │ ├── Dockerfile │ ├── Server.py │ ├── generate_start_end_pairs.py │ ├── preprocess_and_upload_assets.py │ └── resources │ │ ├── house_obj_regions.json │ │ ├── house_region_to_panorama.json │ │ └── house_target_tuple.json │ └── www │ ├── favicon-alert.ico │ ├── favicon.ico │ ├── functions.php │ ├── generate_code.php │ ├── img │ └── nav_example_1.png │ ├── index.php │ ├── js │ ├── Detector.js │ ├── HIT.js │ ├── Matterport3D.js │ ├── PTZCameraControls.js │ ├── RequestAnimationFrame.js │ └── Trajectory.js │ ├── manage_files.php │ └── style.css └── webgl_imgs ├── 17DRP5sb8fy_85c23efeaecd4d43a7dcd5b90137179e_2.551961945320492_0.008557380839564054.png ├── 1LXtFkjw3qL_187589bb7d4644f2943079fb949c0be9_1.8699330579409539_0.0004921836022802584.png ├── 1pXnuDYAj8r_163d61ac7edb43fb958c5d9e69ae11ad_4.626331047551077_-0.02444352614304746.png ├── 29hnd4uzFmX_1576d62e7bbb45e8a5ef9e7bb37b1839_5.844119909926444_-0.0006838914039405167.png ├── 2azQ1b91cZZ_3daad58ad53742038e50d62e91f84e7b_3.1736484087962933_0.016732869758208434.png ├── 2n8kARJN3HM_94ac3cea52ec455993f8562f78da3be1_2.604601935142565_-0.0009188787844489273.png ├── 2t7WUuJeko7_529f006f8293406da0b506defd2891a5_0.032985516949381344_-0.013788837143969411.png ├── 5LpN3gDmAk7_bda8025f20404048a77381e9e0dc0ccf_5.325207878739601_-0.01083211073205187.png ├── 5ZKStnWn8Zo_c76b52856e7c4f2a9a4419000c8e646a_4.13470589902238_-0.02922217527541366.png 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