├── CMakeLists.txt ├── LICENSE ├── README.md ├── common_flags.py ├── config.py ├── config_files ├── config_flightmare_oracle.py ├── config_flightmare_oracle_naive.py ├── config_flightmare_sevae_oracle.py ├── config_flightmare_sevae_oracle_naive.py ├── config_gazebo_corridor_oracle.py ├── config_gazebo_corridor_oracle_naive.py ├── config_gazebo_corridor_sevae_oracle.py ├── config_gazebo_corridor_sevae_oracle_naive.py ├── config_gazebo_gallery_a_oracle.py ├── config_gazebo_gallery_a_oracle_naive.py ├── config_gazebo_subway_a_oracle.py └── config_gazebo_subway_a_oracle_naive.py ├── env ├── flightmare_common.py ├── flightmare_wrapper.py ├── realtime_ros_wrapper.py ├── realtime_ros_wrapper_infogain_ardupilot.py ├── rotors_wrappers.py └── sim_env_base_class.py ├── evaluate └── evaluate.py ├── generate └── generate_data_info_gain.py ├── inference ├── network_inference_base_class.py ├── network_inference_tensorflow.py └── network_inference_tensorrt.py ├── model_weights ├── VAE_EVO_back_to_origin │ ├── net1 │ │ ├── VAE_depth_state_combiner_engine_fp32.trt │ │ ├── VAE_rnn_engine_fp32_lstm.trt │ │ ├── saved-model.hdf5 │ │ └── v843 │ │ │ ├── VAE_depth_state_combiner_engine_fp32.trt │ │ │ └── VAE_rnn_engine_fp32_lstm.trt │ ├── net2 │ │ ├── VAE_depth_state_combiner_engine_fp32.trt │ │ ├── VAE_rnn_engine_fp32_lstm.trt │ │ └── saved-model.hdf5 │ ├── net3 │ │ ├── VAE_depth_state_combiner_engine_fp32.trt │ │ ├── VAE_rnn_engine_fp32_lstm.trt │ │ └── saved-model.hdf5 │ ├── net4 │ │ ├── VAE_depth_state_combiner_engine_fp32.trt │ │ ├── VAE_rnn_engine_fp32_lstm.trt │ │ └── saved-model.hdf5 │ └── net5 │ │ ├── VAE_depth_state_combiner_engine_fp32.trt │ │ ├── VAE_rnn_engine_fp32_lstm.trt │ │ └── saved-model.hdf5 ├── models_info_gain_voxblox_area_1000 │ └── saved-model.hdf5 ├── vel_2_0 │ ├── net1 │ │ └── saved-model.hdf5 │ ├── net2 │ │ └── saved-model.hdf5 │ ├── net3 │ │ └── saved-model.hdf5 │ ├── net4 │ │ └── saved-model.hdf5 │ └── net5 │ │ └── saved-model.hdf5 └── vel_3_5 │ ├── model_weights.zip │ ├── model_weights │ ├── net1 │ │ └── saved-model-242.hdf5 │ ├── net2 │ │ └── saved-model-199.hdf5 │ ├── net3 │ │ └── saved-model-219.hdf5 │ ├── net4 │ │ └── saved-model-209.hdf5 │ └── net5 │ │ ├── saved-model-130.hdf5 │ │ └── saved-model-340.hdf5 │ ├── net1 │ ├── collision_cnn_only_engine_fp32.trt │ ├── collision_depth_state_combiner_engine_fp32.trt │ ├── collision_rnn_engine_fp32_lstm.trt │ └── saved-model.hdf5 │ ├── net2 │ ├── collision_cnn_only_engine_fp32.trt │ ├── collision_depth_state_combiner_engine_fp32.trt │ ├── collision_rnn_engine_fp32_lstm.trt │ └── saved-model.hdf5 │ ├── net3 │ ├── collision_cnn_only_engine_fp32.trt │ ├── collision_depth_state_combiner_engine_fp32.trt │ ├── collision_rnn_engine_fp32_lstm.trt │ └── saved-model.hdf5 │ ├── net4 │ ├── collision_cnn_only_engine_fp32.trt │ ├── collision_depth_state_combiner_engine_fp32.trt │ ├── collision_rnn_engine_fp32_lstm.trt │ └── saved-model.hdf5 │ └── net5 │ ├── collision_cnn_only_engine_fp32.trt │ ├── collision_depth_state_combiner_engine_fp32.trt │ ├── collision_rnn_engine_fp32_lstm.trt │ └── saved-model.hdf5 ├── optimize ├── convert_keras_cnn_only_to_onnx.py ├── convert_keras_cnn_to_tensorrt_engine.py ├── convert_keras_combiner_tensorrt_engine.py ├── convert_keras_combiner_tensorrt_engine_sevae.py ├── convert_keras_infogain_cnn_to_tensorrt_engine.py ├── convert_keras_infogain_predictor_to_tensorrt_engine.py ├── convert_keras_infogain_predictor_to_tensorrt_engine_light_inference.py ├── convert_keras_rnn_to_tensorrt_engine.py ├── convert_keras_rnn_to_tensorrt_engine_sevae.py ├── convert_keras_to_onnx_infogain.py ├── onnx_model_check.py ├── optimize_onnx_models.sh └── optimize_onnx_models_infogain.sh ├── package.xml ├── process ├── data_processing.py └── data_processing_sevae.py ├── requirements_cuda10_1.txt ├── requirements_cuda11.txt ├── train └── training.py ├── utilities.py ├── visualize ├── modify_frame.py ├── pcl_interface.py ├── publish_mesh_env_subway.py ├── waypoint_publisher_all_urban_station.py └── waypoint_publisher_gallery.py └── waypoints ├── gallery ├── vsep_dense1 │ └── waypoint_gallery_Explore.txt ├── vsep_dense2 │ └── waypoint_gallery_Explore.txt ├── vsep_dense3 │ └── waypoint_gallery_Explore.txt ├── vsep_dense4 │ └── waypoint_gallery_Explore.txt ├── vsep_dense5 │ └── waypoint_gallery_Explore.txt ├── vsep_medium1 │ └── waypoint_gallery_Explore.txt ├── vsep_medium2 │ └── waypoint_gallery_Explore.txt ├── vsep_medium3 │ └── waypoint_gallery_Explore.txt ├── vsep_medium4 │ └── waypoint_gallery_Explore.txt ├── vsep_medium5 │ └── waypoint_gallery_Explore.txt ├── vsep_sparse1 │ └── waypoint_gallery_Explore.txt ├── vsep_sparse2 │ └── waypoint_gallery_Explore.txt ├── vsep_sparse3 │ └── waypoint_gallery_Explore.txt ├── vsep_sparse4 │ └── waypoint_gallery_Explore.txt └── vsep_sparse5 │ └── waypoint_gallery_Explore.txt ├── waypoint_empty.txt ├── waypoint_flightmare.txt ├── waypoint_front.txt └── 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