├── .gitignore ├── LICENSE ├── README.md ├── algorithm ├── __init__.py ├── bit_star.py ├── bit_star_track.py ├── bit_star_tree.py ├── dijkstra.py ├── lazy_sp.py ├── search_tree.py └── tsa.py ├── config.py ├── data ├── images │ ├── envs.png │ └── framework.png └── weights │ ├── kuka_14.pt │ ├── next_13.pt │ ├── next_14.pt │ ├── next_2.pt │ ├── next_3.pt │ ├── next_7.pt │ ├── next_snake.pt │ ├── next_ur5.pt │ ├── smooth_13d_attv3.pt │ ├── smooth_14d_attv3.pt │ ├── smooth_2d_attv3.pt │ ├── smooth_3d_att.pt │ ├── smooth_7d_attv3.pt │ ├── smooth_snake_attv3.pt │ ├── smooth_ur5_attv3.pt │ ├── weights_kuka.pt │ ├── weights_kuka_13.pt │ ├── weights_maze.pt │ ├── weights_maze_3.pt │ ├── weights_snake.pt │ └── weights_ur5.pt ├── diversify_maze.py ├── environment ├── __init__.py ├── env_config.py ├── graph.py ├── kuka_2arm_env.py ├── kuka_env.py ├── kuka_generate_urdf.py ├── maze_env.py ├── snake.urdf ├── snake_env.py ├── timer.py └── ur5_env.py ├── eval_all.py ├── eval_bit.py ├── eval_gnn.py ├── eval_next.py ├── eval_rrt.py ├── kuka_iiwa ├── kuka_with_gripper.sdf ├── kuka_with_gripper2.sdf ├── kuka_world.sdf ├── meshes │ ├── finger_base_left.stl │ ├── finger_base_right.stl │ ├── finger_tip_left.stl │ ├── finger_tip_right.stl │ ├── link_0.mtl │ ├── link_0.obj │ ├── link_0.stl │ ├── link_1.mtl │ ├── link_1.obj │ ├── link_1.stl │ ├── link_2.mtl │ ├── link_2.obj │ ├── link_2.stl │ ├── link_3.mtl │ ├── link_3.obj │ ├── link_3.stl │ ├── link_4.mtl │ ├── link_4.obj │ ├── link_4.stl │ ├── link_5.mtl │ ├── link_5.obj │ ├── link_5.stl │ ├── link_6.mtl │ ├── link_6.obj │ ├── link_6.stl │ ├── link_7.mtl │ ├── link_7.obj │ └── link_7.stl ├── model.sdf ├── model2.sdf ├── model_0.urdf ├── model_3.urdf ├── model_for_sdf.urdf ├── model_free_base.urdf ├── model_modify.urdf └── model_vr_limits.urdf ├── main.ipynb ├── maze_files ├── kukas_13_3000.pkl ├── kukas_14_3000.pkl ├── kukas_7_3000.pkl ├── kukas_7_4000.pkl ├── mazes.npz ├── mazes_100000.npz ├── mazes_15_2_3000.npz ├── mazes_15_3_3000.npz ├── mazes_4000.npz ├── mazes_easy.npz ├── mazes_hard.npz ├── mazes_hard_.npz ├── mazes_hard_3.npz ├── mazes_normal.npz ├── new_maze.npz ├── snakes_15_2_3000.npz └── ur5s_6_3000.pkl ├── model.py ├── model_smoother.py ├── nets.py ├── next_model ├── __init__.py ├── model2D.py └── model3D.py ├── smoother.py ├── str2env.py ├── str2name.py ├── train_explorer.py ├── train_next.py ├── train_smoother.py ├── ur5 ├── collision │ ├── base.stl │ ├── forearm.stl │ ├── shoulder.stl │ ├── upperarm.stl │ ├── wrist1.stl │ ├── wrist2.stl │ └── wrist3.stl ├── gripper │ ├── README.md │ ├── robotiq-2f-base.mtl │ ├── robotiq-2f-base.obj │ ├── robotiq-2f-base.stl │ ├── robotiq-2f-coupler.mtl │ ├── robotiq-2f-coupler.obj │ ├── robotiq-2f-coupler.stl │ ├── robotiq-2f-driver.mtl │ ├── robotiq-2f-driver.obj │ ├── robotiq-2f-driver.stl │ ├── robotiq-2f-follower.mtl │ ├── robotiq-2f-follower.obj │ ├── robotiq-2f-follower.stl │ ├── robotiq-2f-pad.stl │ ├── robotiq-2f-spring_link.mtl │ ├── robotiq-2f-spring_link.obj 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