├── LICENSE ├── README.md ├── localization and mapping_grid maps ├── Research report.pdf ├── TOOLS │ ├── compute_controls.m │ ├── compute_gaussian_from_samples.m │ ├── gauss_1D.p │ ├── get_cells_range.m │ ├── get_cells_range_SLAM.m │ ├── get_controls.m │ ├── get_visible_frontier.m │ ├── inverse_range_finder_model.m │ ├── isSensable.m │ ├── likelihood_field_range_finder_model.m │ ├── make_map.m │ ├── nearest_wall_SLAM.m │ ├── noise_free_motion_model_velocity.m │ ├── noise_free_range_finder_grid_model.m │ ├── pi_to_pi.p │ ├── plot_map.m │ ├── plot_robot.m │ ├── preprocess_nearest_wall.m │ ├── range_finder_grid_model.m │ ├── sample_motion_model_velocity.m │ ├── sample_particle.m │ ├── sigma_ellipse.p │ └── simple_resample.m ├── demo_localization.m ├── demo_mapping.m ├── map1.csv ├── map1.xlsx ├── map2.csv ├── map2.xlsx ├── map3.csv └── map3.xlsx ├── neural-navigation-with-lstm ├── MARCO │ ├── CompoundAction.py │ ├── CompoundAction.pyc │ ├── DirectionCorpus.py │ ├── DirectionCorpus.pyc │ ├── Executor.py │ ├── Executor.pyc │ ├── HashCFG.py │ ├── HashCFG.pyc │ ├── Options.py │ ├── Options.pyc │ ├── POMDP │ │ ├── Base.py │ │ ├── Base.pyc │ │ ├── InferredMap.py │ │ ├── InferredMap_SimpleExample1.py │ │ ├── InstQueue.py │ │ ├── InstQueue_SimpleExample1.py │ │ ├── MakePOMDP.py │ │ ├── MarkovLoc.py │ │ ├── MarkovLoc.pyc │ │ ├── MarkovLoc_Antie.py │ │ ├── MarkovLoc_Antie.pyc │ │ ├── MarkovLoc_Antie_Periph.py │ │ ├── MarkovLoc_Antie_Periph.pyc │ │ ├── MarkovLoc_Grid.py │ │ ├── MarkovLoc_Grid_4_5.py │ │ ├── MarkovLoc_Jelly.py │ │ ├── MarkovLoc_Jelly.pyc │ │ ├── MarkovLoc_L.py │ │ ├── MarkovLoc_Simple.py │ │ ├── MarkovLoc_SimpleExample1.py │ │ ├── Topology.py │ │ ├── Topology.pyc │ │ ├── ViewDescription.py │ │ ├── Viewer.py │ │ ├── Viewer.pyc │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ └── plotPolicyGraph.py │ ├── ParseDirections.py │ ├── ParseDirections.pyc │ ├── ParseStatistics.py │ ├── ParseStatistics.pyc │ ├── README │ ├── Robot │ │ ├── CVS │ │ │ ├── Entries │ │ │ ├── Repository │ │ │ └── Root │ │ ├── FaceGridworld Demo-episodes.cdf │ │ ├── Meanings.py │ │ ├── Meanings.pyc │ │ ├── POMDP_Sim.py │ │ ├── POMDP_Sim.pyc │ │ ├── POMDP_Sim_Min.py │ │ ├── Plastk.py │ │ ├── Print.py │ │ ├── Print.pyc │ │ ├── Recognizers_Compound.py │ │ ├── Recognizers_Compound.py.flc │ │ ├── Recognizers_Compound.pyc │ │ ├── Recognizers_HSSH.py │ │ ├── Recognizers_POMDP_Antie_Periph_Sim.py │ │ ├── Recognizers_POMDP_Antie_Periph_Sim.pyc │ │ ├── Recognizers_POMDP_Antie_Sim.py │ │ ├── Recognizers_POMDP_Antie_Sim.pyc │ │ ├── SmallScaleStar.py │ │ ├── ViewCache.py │ │ ├── ViewCache.pyc │ │ ├── __init__.py │ │ └── __init__.pyc │ ├── Sense.py │ ├── Sense.pyc │ ├── Senses.py │ ├── Senses.pyc │ ├── SubjectLogs │ │ ├── SubjectGroups.py │ │ ├── SubjectGroups.pyc │ │ ├── __init__.py │ │ └── __init__.pyc │ ├── Utility │ │ ├── CVS │ │ │ ├── Entries │ │ │ ├── Repository │ │ │ └── Root │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ ├── logger.py │ │ ├── logger.pyc │ │ ├── logistic_regression.py │ │ ├── pca.py │ │ ├── refcounts.py │ │ └── toposort.py │ ├── __init__.py │ ├── __init__.pyc │ ├── nltk │ │ ├── .cvsignore │ │ ├── CVS │ │ │ ├── Entries │ │ │ ├── Repository │ │ │ └── Root │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ ├── cfg.py │ │ ├── cfg.pyc │ │ ├── chktype.py │ │ ├── chktype.pyc │ │ ├── classifier │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ ├── __init__.py │ │ │ ├── feature.py │ │ │ ├── featureselection.py │ │ │ ├── maxent.py │ │ │ └── naivebayes.py │ │ ├── clusterer │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ └── __init__.py │ │ ├── corpus │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ ├── __init__.py │ │ │ ├── __init__.py.flc │ │ │ ├── __init__.pyc │ │ │ ├── rogetreader.py │ │ │ ├── rogetreader.pyc │ │ │ ├── sense.py │ │ │ ├── tree.py │ │ │ ├── tree.py.~1.1.1.1.~ │ │ │ └── tree.pyc │ │ ├── draw │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ ├── cfg.py │ │ │ ├── chart.py │ │ │ ├── corpus.py │ │ │ ├── earley.py │ │ │ ├── featurestructure.py │ │ │ ├── featurestructure.pyc │ │ │ ├── fsa.py │ │ │ ├── graph.py │ │ │ ├── graph.pyc │ │ │ ├── plot.py │ │ │ ├── rdparser.py │ │ │ ├── srparser.py │ │ │ ├── tree.py │ │ │ ├── tree.pyc │ │ │ └── tree_edit.py │ │ ├── eval.py │ │ ├── eval.pyc │ │ ├── feature │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ ├── __init__.py │ │ │ ├── document.py │ │ │ └── word.py │ │ ├── featurestructure.py │ │ ├── featurestructure.py.flc │ │ ├── featurestructure.pyc │ │ ├── hmm │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ ├── __init__.py │ │ │ └── multioutput.py │ │ ├── parser │ │ │ ├── .cvsignore │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ ├── chart.py │ │ │ ├── chart.pyc │ │ │ ├── chunk.py │ │ │ ├── chunk.pyc │ │ │ ├── probabilistic.py │ │ │ ├── probabilistic.py.flc │ │ │ └── probabilistic.pyc │ │ ├── probability.py │ │ ├── probability.pyc │ │ ├── stemmer │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ ├── porter.py │ │ │ └── porter.pyc │ │ ├── tagger │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ ├── brill.py │ │ │ └── brill.pyc │ │ ├── test │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ ├── __init__.py │ │ │ ├── cfg.py │ │ │ ├── chktype.py │ │ │ ├── imports.py │ │ │ ├── parser.py │ │ │ ├── probability.py │ │ │ ├── rechunkparser.py │ │ │ ├── set.py │ │ │ ├── token.py │ │ │ ├── tokenizer.py │ │ │ ├── tree.py │ │ │ └── util.py │ │ ├── token.py │ │ ├── token.py.flc │ │ ├── token.pyc │ │ ├── tokenizer │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ ├── __init__.py │ │ │ └── __init__.pyc │ │ ├── tokenreader │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ └── Root │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ ├── conll.py │ │ │ ├── conll.pyc │ │ │ ├── ieer.py │ │ │ ├── ieer.pyc │ │ │ ├── sense.py │ │ │ ├── sense.pyc │ │ │ ├── tagged.py │ │ │ ├── tagged.pyc │ │ │ ├── tokenizerbased.py │ │ │ ├── tokenizerbased.pyc │ │ │ ├── treebank.py │ │ │ └── treebank.pyc │ │ ├── tree.py │ │ ├── tree.py.flc │ │ ├── tree.pyc │ │ ├── util.py │ │ └── util.pyc │ ├── nltk_contrib │ │ ├── WordNet-2.0.tar.gz │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ ├── misc │ │ │ ├── __init__.py │ │ │ └── festival │ │ │ │ ├── __init__.py │ │ │ │ ├── html.py │ │ │ │ ├── numbers.py │ │ │ │ ├── rules.py │ │ │ │ ├── token.py │ │ │ │ ├── token_tts.py │ │ │ │ ├── token_weather.py │ │ │ │ └── weather.py │ │ ├── mit │ │ │ ├── __init__.py │ │ │ └── rspeer │ │ │ │ ├── __init__.py │ │ │ │ ├── feature.py │ │ │ │ ├── feature.py.flc │ │ │ │ └── parser │ │ │ │ ├── __init__.py │ │ │ │ ├── featurechart.py │ │ │ │ ├── main.py │ │ │ │ ├── readfile.py │ │ │ │ └── treeview.py │ │ ├── pywordnet │ │ │ ├── __init__.py │ │ │ ├── __init__.py.flc │ │ │ ├── __init__.py.orig │ │ │ ├── __init__.py.orig.flc │ │ │ ├── __init__.pyc │ │ │ ├── setup.py │ │ │ ├── stemmer.py │ │ │ ├── tools.py │ │ │ ├── tools.pyc │ │ │ └── wordnet.diff │ │ ├── unimelb │ │ │ ├── __init__.py │ │ │ ├── edwardi │ │ │ │ ├── __init__.py │ │ │ │ └── drt.py │ │ │ ├── sb │ │ │ │ ├── __init__.py │ │ │ │ ├── annotation.py │ │ │ │ ├── fsa.py │ │ │ │ └── segmentation.py │ │ │ └── tacohn │ │ │ │ ├── __init__.py │ │ │ │ ├── classifier │ │ │ │ ├── __init__.py │ │ │ │ ├── boost.py │ │ │ │ ├── decisionlist.py │ │ │ │ ├── decisiontree.py │ │ │ │ ├── feature.py │ │ │ │ ├── featureselection.py │ │ │ │ └── naivebayes.py │ │ │ │ ├── hmm.py │ │ │ │ ├── hmm │ │ │ │ ├── __init__.py │ │ │ │ ├── demo.py │ │ │ │ ├── numeric.py │ │ │ │ └── setup.py │ │ │ │ ├── sparsearray.py │ │ │ │ └── tagger │ │ │ │ ├── __init__.py │ │ │ │ └── dictionary.py │ │ ├── upenn │ │ │ ├── __init__.py │ │ │ ├── cis530 │ │ │ │ ├── __init__.py │ │ │ │ ├── fall2001 │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── brent_gray │ │ │ │ │ │ └── wsd_schutze │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── cluster.py │ │ │ │ │ │ └── ioutils.py │ │ │ │ └── spring2003 │ │ │ │ │ └── __init__.py │ │ │ ├── edloper │ │ │ │ ├── __init__.py │ │ │ │ ├── ag.py │ │ │ │ ├── featurestructure.py │ │ │ │ ├── featurestructure.py.flc │ │ │ │ └── token.py │ │ │ └── haepal │ │ │ │ └── MultiTrans │ │ │ │ └── format │ │ │ │ ├── __init__.py │ │ │ │ ├── callhome.py │ │ │ │ └── callhome2.py │ │ └── wordnet │ │ │ ├── Makefile │ │ │ ├── adj.exc │ │ │ ├── adv.exc │ │ │ ├── cntlist │ │ │ ├── cntlist.rev │ │ │ ├── data.adj │ │ │ ├── data.adv │ │ │ ├── data.noun │ │ │ ├── data.verb │ │ │ ├── frames.vrb │ │ │ ├── index.adj │ │ │ ├── index.adv │ │ │ ├── index.noun │ │ │ ├── index.sense │ │ │ ├── index.verb │ │ │ ├── lexnames │ │ │ ├── noun.exc │ │ │ ├── sentidx.vrb │ │ │ ├── sents.vrb │ │ │ └── verb.exc │ ├── pcfg.pyc │ ├── plastk │ │ ├── .cvsignore │ │ ├── CONVENTIONS.txt │ │ ├── CVS │ │ │ ├── Entries │ │ │ ├── Repository │ │ │ ├── Root │ │ │ └── Tag │ │ ├── Makefile │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ ├── base.py │ │ ├── base.pyc │ │ ├── display.py │ │ ├── display.pyc │ │ ├── examples │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ ├── Root │ │ │ │ └── Tag │ │ │ ├── gngsom.py │ │ │ ├── grid_exper.py │ │ │ ├── grid_exper_analyze.py │ │ │ ├── gridworld.py │ │ │ └── pendulum.py │ │ ├── exper.py │ │ ├── fnapprox │ │ │ ├── .cvsignore │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ ├── Root │ │ │ │ └── Tag │ │ │ ├── __init__.py │ │ │ ├── linear.py │ │ │ ├── lwl.py │ │ │ └── vectordb.py │ │ ├── params.py │ │ ├── params.pyc │ │ ├── pkl.py │ │ ├── plot.py │ │ ├── rand.py │ │ ├── rand.pyc │ │ ├── rl │ │ │ ├── .cvsignore │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ ├── Root │ │ │ │ └── Tag │ │ │ ├── Makefile │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ ├── _ctiles.so │ │ │ ├── ctiles.i │ │ │ ├── ctiles.py │ │ │ ├── ctiles_wrap.cxx │ │ │ ├── ctiles_wrap.d │ │ │ ├── ctiles_wrap.o │ │ │ ├── data.py │ │ │ ├── facegridworld.py │ │ │ ├── facegridworld.pyc │ │ │ ├── gridworld.py │ │ │ ├── gridworld.pyc │ │ │ ├── loggingrli.py │ │ │ ├── loggingrli.pyc │ │ │ ├── options.py │ │ │ ├── options2.py │ │ │ ├── pendulum.py │ │ │ ├── queue.py │ │ │ ├── queue.pyc │ │ │ ├── td.py │ │ │ ├── tiles.py │ │ │ ├── tiles2.C │ │ │ ├── tiles2.d │ │ │ ├── tiles2.h │ │ │ └── tiles2.o │ │ ├── seqcount.py │ │ ├── test.py │ │ ├── tests │ │ │ ├── .cvsignore │ │ │ ├── CVS │ │ │ │ ├── Entries │ │ │ │ ├── Repository │ │ │ │ ├── Root │ │ │ │ └── Tag │ │ │ ├── __init__.py │ │ │ ├── testfnapprox.py │ │ │ ├── testtd.py │ │ │ └── testvectordb.py │ │ ├── utils.py │ │ ├── utils.pyc │ │ └── vq │ │ │ ├── .cvsignore │ │ │ ├── CVS │ │ │ ├── Entries │ │ │ ├── Repository │ │ │ ├── Root │ │ │ └── Tag │ │ │ ├── __init__.py │ │ │ ├── gng.py │ │ │ ├── ravq.py │ │ │ └── som.py │ ├── sensetagger.pyc │ └── tagger.pyc ├── README.md ├── custom_nn.py ├── data │ ├── Paragraph.xml │ ├── Paragraph_Mandarin.xml │ ├── README │ ├── SingleSentence.xml │ ├── SingleSentence_Mandarin.xml │ ├── folds_vDev.pickle │ ├── folds_vTest.pickle │ ├── grid.settrc │ ├── jelly.settrc │ └── l.settrc ├── main_neural_nav.py ├── maps │ ├── .svn │ │ ├── entries │ │ └── text-base │ │ │ ├── map-grid.xml.svn-base │ │ │ ├── map-jelly.xml.svn-base │ │ │ └── map-l.xml.svn-base │ ├── DirectionGrid.png │ ├── DirectionJelly.png │ ├── DirectionL.png │ ├── map-grid.xml │ ├── map-jelly.xml │ └── map-l.xml ├── model_utils.py ├── nav_model.py ├── nav_model_batch.py ├── test_baseline.py └── utils.py ├── path-planning ├── HPI Baja 5b SS.pdf ├── a-star │ ├── aStar.m │ ├── amb2.fig │ ├── amb2.jpg │ ├── build_min_heap.m │ ├── decrease_key.m │ ├── extract_min.m │ ├── giro.fig │ ├── giro.jpg │ ├── giro2.fig │ ├── giro2.jpg │ ├── heuristic.m │ ├── libre.fig │ ├── libre.jpg │ ├── main.m │ ├── min_heapify.m │ ├── no_path.fig │ ├── no_path.jpg │ ├── printClosed.m │ ├── push.m │ ├── search.m │ └── toExplore.m └── hybrid a-star │ ├── aStar.m │ ├── build_min_heap.m │ ├── decrease_key.m │ ├── extract_min.m │ ├── f2.jpg │ ├── f3.jpg │ ├── heuristic.m │ ├── libre.jpg │ ├── main.m │ ├── min_heapify.m │ ├── pathPloter.m │ ├── printClosed.m │ ├── push.m │ ├── search.m │ └── toExplore.m └── slam_landmarks map ├── Demo_EKF_SLAM.m ├── Demo_EKF_SLAM2.m ├── EKF_Prediction_SLAM.asv ├── EKF_Prediction_SLAM.m ├── EKF_Update_SLAM.asv ├── EKF_Update_SLAM.m ├── SENSOR RANGE ├── demo03.txt ├── noise_free_range_bearing_model.p └── range_bearing_model.p ├── TOOLS ├── compute_gaussian_from_samples.m ├── display_circle.p ├── gauss_1D.p ├── get_visible_landmarks.m ├── landmark_model_known_correspondence.p ├── noise_free_motion_model_velocity.p ├── pi_to_pi.p ├── plot_robot.p ├── range_bearing_model.p ├── sample_motion_model_velocity.p ├── sigma_ellipse.p 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