├── .gitignore ├── README.md ├── config_files ├── challenge_pointnav2020.local.rgbd.yaml ├── challenge_pointnav2020_eppg_sensor.local.rgbd.yaml ├── challenge_pointnav2020_gt_loc.local.rgbd.yaml ├── challenge_pointnav2020_gt_loc.local.rgbd_1k_mp3d.yaml ├── challenge_pointnav2020_gt_loc.local.rgbd_gibson_mp3d.yaml ├── challenge_pointnav2020_gt_loc_and_egomotion.local.rgbd.yaml ├── challenge_pointnav2020_gt_loc_one_episode.local.rgbd.yaml ├── challenge_pointnav2021.local.rgbd.yaml ├── challenge_pointnav2021.local.rgbd_w_collis.yaml ├── challenge_pointnav2021.remote.rgbd.yaml ├── challenge_pointnav2021_egomotion_pointgoal_sensor.local.rgbd.yaml ├── challenge_pointnav2021_eppg_sensor_vo3_2m.local.rgbd.yaml ├── challenge_pointnav2021_gt_loc.local.rgbd.yaml ├── challenge_pointnav2021_gt_loc_and_egomotion_sensor.local.rgbd.yaml ├── challenge_pointnav2021_gt_loc_sim2real.local.rgbd.yaml ├── challenge_pointnav2021_gt_loc_sim2real_hfov.local.rgbd.yaml ├── challenge_pointnav2021_gt_loc_sim2real_hfov_tilted.local.rgbd.yaml ├── challenge_pointnav2021_gt_loc_sim2real_hfov_turn10.local.rgbd.yaml ├── challenge_pointnav2021_gt_loc_sim2real_naoki.local.rgbd.yaml ├── ddppo │ ├── ddppo_joint_pointnav.yaml │ ├── ddppo_joint_pointnav_2021.yaml │ ├── ddppo_pointnav.yaml │ ├── ddppo_pointnav_2021.yaml │ ├── ddppo_pointnav_2021_egomotion_pointgoal_sensor.yaml │ ├── ddppo_pointnav_2021_sim2real.yaml │ ├── ddppo_pointnav_2021_spl_reward.yaml │ ├── ddppo_pointnav_2021_spl_reward_no_crop.yaml │ ├── ddppo_pointnav_2021_spl_thrsh_reward.yaml │ └── ddppo_pointnav_vo3_2m_2021.yaml ├── odometry │ ├── fair_regnety016_bs32_rgbd_actemb2_flip_invrot_5m.yaml │ ├── hsim │ │ ├── baseline_online_training_with_batch_buffer.yaml │ │ ├── baseline_static_dataset_training.yaml │ │ ├── baseline_static_dataset_training_distrib.yaml │ │ └── baseline_static_dataset_training_resized.yaml │ ├── paper │ │ ├── mp3d │ │ │ ├── fair_mp3d_finetuning_resnet50_bs16_rgbd_actemb2_flip_invrot.yaml │ │ │ └── fair_mp3d_resnet50_bs16_rgbd_actemb2_flip_invrot.yaml │ │ ├── regnety016_bs32_rgbd_actemb2_adam_warmup_flip_invrot_lscale.yaml │ │ └── sim2real │ │ │ ├── fair_sim2real_regnety016_bs32_rgbd_actemb2_flip_invrot.yaml │ │ │ ├── fair_sim2real_resnet50_bs32_rgbd_actemb2_flip_invrot.yaml │ │ │ ├── resnet50_bs32_rgbd_actemb2.yaml │ │ │ └── resnet50_bs32_rgbd_actemb2_flip_invrot.yaml │ ├── resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.15_poseloss1._1._180x320_embedd_act_hc2021_vo2_joint.yaml │ ├── resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata.yaml │ ├── resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_2m_fair.yaml │ ├── resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_3m_fair.yaml │ ├── resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_fair.yaml │ ├── resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_2M_fair.yaml │ ├── resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_3m_fair.yaml │ ├── resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_3m_fair_8n.yaml │ ├── resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo_gibson_res_fair.yaml │ └── resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo_sim2real_fair.yaml ├── shortest_path_follower │ └── shortest_path_follower.yaml └── trajectory-sampling │ ├── dataset_train.yaml │ ├── env_config_train.yaml │ ├── env_config_val.yaml │ ├── model_config.yaml │ └── rl_config.yaml ├── eval_odometry.py ├── fix_moved_jsons.py ├── habitat_baselines_extensions ├── __init__.py ├── common │ ├── __init__.py │ ├── environments.py │ └── obs_transformers.py ├── config │ ├── __init__.py │ └── default.py └── rl │ ├── __init__.py │ ├── ddppo │ ├── __init__.py │ └── policy │ │ ├── __init__.py │ │ └── resnet_policy.py │ └── ppo │ ├── __init__.py │ └── ppo_trainer_joint.py ├── habitat_extensions ├── __init__.py ├── config │ ├── __init__.py │ └── default.py └── sensors │ ├── __init__.py │ ├── egomotion_pg_sensor.py │ └── egomotion_sensor.py ├── merge_datasets.sh ├── navigation ├── __init__.py ├── analysis │ ├── checkpoint_steps_calc.py │ └── navpolicy_analysis.ipynb └── experiments │ ├── experiment_launcher.sh │ ├── local_experiment_launcher.sh │ ├── local_run_experiment.sh │ ├── run_experiment.sh │ └── run_experiment_eval.sh ├── odometry ├── __init__.py ├── config │ ├── __init__.py │ └── default.py ├── dataset │ ├── __init__.py │ ├── augmentations.py │ ├── dataset.py │ ├── gibson_quality_ratings.csv │ ├── samplers.py │ ├── transforms.py │ └── utils.py ├── experiments │ ├── experiment_launcher.sh │ ├── experiment_launcher_2020.sh │ ├── local_experiment_launcher.sh │ ├── local_run_experiment.sh │ ├── run_experiment.sh │ ├── run_experiment_eval.sh │ ├── run_experiment_rg16_sim2real.sh │ ├── run_experiment_rn50.sh │ ├── run_experiment_rn50_8n.sh │ ├── run_experiment_rn50_8n_sim2real.sh │ ├── run_experiment_rn50_gibson_0.sh │ └── run_experiment_rn50_sim2real.sh ├── losses │ ├── __init__.py │ └── losses.py ├── metrics │ ├── __init__.py │ └── metrics.py ├── models │ ├── __init__.py │ └── models.py ├── optims │ ├── __init__.py │ └── optims.py ├── schedulers │ ├── __init__.py │ ├── schedulers.py │ └── warmup_schedulers.py ├── trainers │ ├── __init__.py │ ├── base_trainer.py │ ├── online_dataset_trainer.py │ └── static_dataset_trainer.py └── utils │ ├── __init__.py │ ├── early_stopping.py │ └── utils.py ├── pointgoal_navigation_install.sh ├── print_dataset_stats.py ├── requirements.txt ├── run_customized_ddppo.py ├── run_ddppo.py ├── run_ddppo_joint.py ├── test ├── config_files │ ├── odometry │ │ ├── vonet.yaml │ │ ├── vonet_v2.yaml │ │ ├── vonet_v3.yaml │ │ └── vonet_v4.yaml │ ├── ppo_pointnav_test.yaml │ └── tasks │ │ └── pointnav.yaml ├── test_ddppo_reduce.py └── test_vo_model_create_and_forward.py ├── train_odometry.py ├── train_odometry_v2.py └── trajectory-sampling ├── README.md ├── agent ├── __init__.py ├── agent.py ├── ddppo_agents.py ├── policy.py ├── resnet.py ├── shortest_path_follower.py └── utils.py ├── clean_started_scenes.py ├── config ├── __init__.py ├── default_model_config.py └── default_rl_config.py ├── environment ├── __init__.py ├── build_env.py └── env.py ├── generate_dataset.sh ├── generate_dataset_par.sh ├── generate_trajectory_dataset.py ├── generate_trajectory_dataset_par.py ├── merge_datasets.py ├── print_started_scenes_time.py ├── run_generation.sh ├── run_generation_sim2real.sh └── run_generation_sim2real_val.sh /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/README.md -------------------------------------------------------------------------------- /config_files/challenge_pointnav2020.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2020.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2020_eppg_sensor.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2020_eppg_sensor.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2020_gt_loc.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2020_gt_loc.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2020_gt_loc.local.rgbd_1k_mp3d.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2020_gt_loc.local.rgbd_1k_mp3d.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2020_gt_loc.local.rgbd_gibson_mp3d.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2020_gt_loc.local.rgbd_gibson_mp3d.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2020_gt_loc_and_egomotion.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2020_gt_loc_and_egomotion.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2020_gt_loc_one_episode.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2020_gt_loc_one_episode.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021.local.rgbd_w_collis.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021.local.rgbd_w_collis.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021.remote.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021.remote.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021_egomotion_pointgoal_sensor.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021_egomotion_pointgoal_sensor.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021_eppg_sensor_vo3_2m.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021_eppg_sensor_vo3_2m.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021_gt_loc.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021_gt_loc.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021_gt_loc_and_egomotion_sensor.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021_gt_loc_and_egomotion_sensor.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021_gt_loc_sim2real.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021_gt_loc_sim2real.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021_gt_loc_sim2real_hfov.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021_gt_loc_sim2real_hfov.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021_gt_loc_sim2real_hfov_tilted.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021_gt_loc_sim2real_hfov_tilted.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021_gt_loc_sim2real_hfov_turn10.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021_gt_loc_sim2real_hfov_turn10.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/challenge_pointnav2021_gt_loc_sim2real_naoki.local.rgbd.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/challenge_pointnav2021_gt_loc_sim2real_naoki.local.rgbd.yaml -------------------------------------------------------------------------------- /config_files/ddppo/ddppo_joint_pointnav.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/ddppo/ddppo_joint_pointnav.yaml -------------------------------------------------------------------------------- /config_files/ddppo/ddppo_joint_pointnav_2021.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/ddppo/ddppo_joint_pointnav_2021.yaml -------------------------------------------------------------------------------- /config_files/ddppo/ddppo_pointnav.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/ddppo/ddppo_pointnav.yaml -------------------------------------------------------------------------------- /config_files/ddppo/ddppo_pointnav_2021.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/ddppo/ddppo_pointnav_2021.yaml -------------------------------------------------------------------------------- /config_files/ddppo/ddppo_pointnav_2021_egomotion_pointgoal_sensor.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/ddppo/ddppo_pointnav_2021_egomotion_pointgoal_sensor.yaml -------------------------------------------------------------------------------- /config_files/ddppo/ddppo_pointnav_2021_sim2real.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/ddppo/ddppo_pointnav_2021_sim2real.yaml -------------------------------------------------------------------------------- /config_files/ddppo/ddppo_pointnav_2021_spl_reward.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/ddppo/ddppo_pointnav_2021_spl_reward.yaml -------------------------------------------------------------------------------- /config_files/ddppo/ddppo_pointnav_2021_spl_reward_no_crop.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/ddppo/ddppo_pointnav_2021_spl_reward_no_crop.yaml -------------------------------------------------------------------------------- /config_files/ddppo/ddppo_pointnav_2021_spl_thrsh_reward.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/ddppo/ddppo_pointnav_2021_spl_thrsh_reward.yaml -------------------------------------------------------------------------------- /config_files/ddppo/ddppo_pointnav_vo3_2m_2021.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/ddppo/ddppo_pointnav_vo3_2m_2021.yaml -------------------------------------------------------------------------------- /config_files/odometry/fair_regnety016_bs32_rgbd_actemb2_flip_invrot_5m.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/fair_regnety016_bs32_rgbd_actemb2_flip_invrot_5m.yaml -------------------------------------------------------------------------------- /config_files/odometry/hsim/baseline_online_training_with_batch_buffer.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/hsim/baseline_online_training_with_batch_buffer.yaml -------------------------------------------------------------------------------- /config_files/odometry/hsim/baseline_static_dataset_training.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/hsim/baseline_static_dataset_training.yaml -------------------------------------------------------------------------------- /config_files/odometry/hsim/baseline_static_dataset_training_distrib.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/hsim/baseline_static_dataset_training_distrib.yaml -------------------------------------------------------------------------------- /config_files/odometry/hsim/baseline_static_dataset_training_resized.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/hsim/baseline_static_dataset_training_resized.yaml -------------------------------------------------------------------------------- /config_files/odometry/paper/mp3d/fair_mp3d_finetuning_resnet50_bs16_rgbd_actemb2_flip_invrot.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/paper/mp3d/fair_mp3d_finetuning_resnet50_bs16_rgbd_actemb2_flip_invrot.yaml -------------------------------------------------------------------------------- /config_files/odometry/paper/mp3d/fair_mp3d_resnet50_bs16_rgbd_actemb2_flip_invrot.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/paper/mp3d/fair_mp3d_resnet50_bs16_rgbd_actemb2_flip_invrot.yaml -------------------------------------------------------------------------------- /config_files/odometry/paper/regnety016_bs32_rgbd_actemb2_adam_warmup_flip_invrot_lscale.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/paper/regnety016_bs32_rgbd_actemb2_adam_warmup_flip_invrot_lscale.yaml -------------------------------------------------------------------------------- /config_files/odometry/paper/sim2real/fair_sim2real_regnety016_bs32_rgbd_actemb2_flip_invrot.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/paper/sim2real/fair_sim2real_regnety016_bs32_rgbd_actemb2_flip_invrot.yaml -------------------------------------------------------------------------------- /config_files/odometry/paper/sim2real/fair_sim2real_resnet50_bs32_rgbd_actemb2_flip_invrot.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/paper/sim2real/fair_sim2real_resnet50_bs32_rgbd_actemb2_flip_invrot.yaml -------------------------------------------------------------------------------- /config_files/odometry/paper/sim2real/resnet50_bs32_rgbd_actemb2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/paper/sim2real/resnet50_bs32_rgbd_actemb2.yaml -------------------------------------------------------------------------------- /config_files/odometry/paper/sim2real/resnet50_bs32_rgbd_actemb2_flip_invrot.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/paper/sim2real/resnet50_bs32_rgbd_actemb2_flip_invrot.yaml -------------------------------------------------------------------------------- /config_files/odometry/resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.15_poseloss1._1._180x320_embedd_act_hc2021_vo2_joint.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.15_poseloss1._1._180x320_embedd_act_hc2021_vo2_joint.yaml -------------------------------------------------------------------------------- /config_files/odometry/resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata.yaml -------------------------------------------------------------------------------- /config_files/odometry/resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_2m_fair.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_2m_fair.yaml -------------------------------------------------------------------------------- /config_files/odometry/resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_3m_fair.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_3m_fair.yaml -------------------------------------------------------------------------------- /config_files/odometry/resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_fair.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/resnet18_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_fair.yaml -------------------------------------------------------------------------------- /config_files/odometry/resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_2M_fair.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_2M_fair.yaml -------------------------------------------------------------------------------- /config_files/odometry/resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_3m_fair.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_3m_fair.yaml -------------------------------------------------------------------------------- /config_files/odometry/resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_3m_fair_8n.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo3_bigdata_3m_fair_8n.yaml -------------------------------------------------------------------------------- /config_files/odometry/resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo_gibson_res_fair.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo_gibson_res_fair.yaml -------------------------------------------------------------------------------- /config_files/odometry/resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo_sim2real_fair.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/odometry/resnet50_bs16_ddepth5_maxd0.5_randomsampling_dropout0.2_poselossv2_1._1._180x320_embedd_act_vflip_hc2021_vo_sim2real_fair.yaml -------------------------------------------------------------------------------- /config_files/shortest_path_follower/shortest_path_follower.yaml: -------------------------------------------------------------------------------- 1 | # just a placeholder fot ShortestPathFollower configuration -------------------------------------------------------------------------------- /config_files/trajectory-sampling/dataset_train.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/trajectory-sampling/dataset_train.yaml -------------------------------------------------------------------------------- /config_files/trajectory-sampling/env_config_train.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/trajectory-sampling/env_config_train.yaml -------------------------------------------------------------------------------- /config_files/trajectory-sampling/env_config_val.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/trajectory-sampling/env_config_val.yaml -------------------------------------------------------------------------------- /config_files/trajectory-sampling/model_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/config_files/trajectory-sampling/model_config.yaml -------------------------------------------------------------------------------- /config_files/trajectory-sampling/rl_config.yaml: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /eval_odometry.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/eval_odometry.py -------------------------------------------------------------------------------- /fix_moved_jsons.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/fix_moved_jsons.py -------------------------------------------------------------------------------- /habitat_baselines_extensions/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_baselines_extensions/__init__.py -------------------------------------------------------------------------------- /habitat_baselines_extensions/common/__init__.py: -------------------------------------------------------------------------------- 1 | from . import obs_transformers 2 | -------------------------------------------------------------------------------- /habitat_baselines_extensions/common/environments.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_baselines_extensions/common/environments.py -------------------------------------------------------------------------------- /habitat_baselines_extensions/common/obs_transformers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_baselines_extensions/common/obs_transformers.py -------------------------------------------------------------------------------- /habitat_baselines_extensions/config/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_baselines_extensions/config/__init__.py -------------------------------------------------------------------------------- /habitat_baselines_extensions/config/default.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_baselines_extensions/config/default.py -------------------------------------------------------------------------------- /habitat_baselines_extensions/rl/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_baselines_extensions/rl/__init__.py -------------------------------------------------------------------------------- /habitat_baselines_extensions/rl/ddppo/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /habitat_baselines_extensions/rl/ddppo/policy/__init__.py: -------------------------------------------------------------------------------- 1 | from . import resnet_policy 2 | -------------------------------------------------------------------------------- /habitat_baselines_extensions/rl/ddppo/policy/resnet_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_baselines_extensions/rl/ddppo/policy/resnet_policy.py -------------------------------------------------------------------------------- /habitat_baselines_extensions/rl/ppo/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /habitat_baselines_extensions/rl/ppo/ppo_trainer_joint.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_baselines_extensions/rl/ppo/ppo_trainer_joint.py -------------------------------------------------------------------------------- /habitat_extensions/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /habitat_extensions/config/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_extensions/config/__init__.py -------------------------------------------------------------------------------- /habitat_extensions/config/default.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_extensions/config/default.py -------------------------------------------------------------------------------- /habitat_extensions/sensors/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_extensions/sensors/__init__.py -------------------------------------------------------------------------------- /habitat_extensions/sensors/egomotion_pg_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_extensions/sensors/egomotion_pg_sensor.py -------------------------------------------------------------------------------- /habitat_extensions/sensors/egomotion_sensor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/habitat_extensions/sensors/egomotion_sensor.py -------------------------------------------------------------------------------- /merge_datasets.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/merge_datasets.sh -------------------------------------------------------------------------------- /navigation/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /navigation/analysis/checkpoint_steps_calc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/navigation/analysis/checkpoint_steps_calc.py -------------------------------------------------------------------------------- /navigation/analysis/navpolicy_analysis.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/navigation/analysis/navpolicy_analysis.ipynb -------------------------------------------------------------------------------- /navigation/experiments/experiment_launcher.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/navigation/experiments/experiment_launcher.sh -------------------------------------------------------------------------------- /navigation/experiments/local_experiment_launcher.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/navigation/experiments/local_experiment_launcher.sh -------------------------------------------------------------------------------- /navigation/experiments/local_run_experiment.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/navigation/experiments/local_run_experiment.sh -------------------------------------------------------------------------------- /navigation/experiments/run_experiment.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/navigation/experiments/run_experiment.sh -------------------------------------------------------------------------------- /navigation/experiments/run_experiment_eval.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/navigation/experiments/run_experiment_eval.sh -------------------------------------------------------------------------------- /odometry/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /odometry/config/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /odometry/config/default.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/config/default.py -------------------------------------------------------------------------------- /odometry/dataset/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/dataset/__init__.py -------------------------------------------------------------------------------- /odometry/dataset/augmentations.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/dataset/augmentations.py -------------------------------------------------------------------------------- /odometry/dataset/dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/dataset/dataset.py -------------------------------------------------------------------------------- /odometry/dataset/gibson_quality_ratings.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/dataset/gibson_quality_ratings.csv -------------------------------------------------------------------------------- /odometry/dataset/samplers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/dataset/samplers.py -------------------------------------------------------------------------------- /odometry/dataset/transforms.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/dataset/transforms.py -------------------------------------------------------------------------------- /odometry/dataset/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/dataset/utils.py -------------------------------------------------------------------------------- /odometry/experiments/experiment_launcher.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/experiment_launcher.sh -------------------------------------------------------------------------------- /odometry/experiments/experiment_launcher_2020.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/experiment_launcher_2020.sh -------------------------------------------------------------------------------- /odometry/experiments/local_experiment_launcher.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/local_experiment_launcher.sh -------------------------------------------------------------------------------- /odometry/experiments/local_run_experiment.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/local_run_experiment.sh -------------------------------------------------------------------------------- /odometry/experiments/run_experiment.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/run_experiment.sh -------------------------------------------------------------------------------- /odometry/experiments/run_experiment_eval.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/run_experiment_eval.sh -------------------------------------------------------------------------------- /odometry/experiments/run_experiment_rg16_sim2real.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/run_experiment_rg16_sim2real.sh -------------------------------------------------------------------------------- /odometry/experiments/run_experiment_rn50.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/run_experiment_rn50.sh -------------------------------------------------------------------------------- /odometry/experiments/run_experiment_rn50_8n.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/run_experiment_rn50_8n.sh -------------------------------------------------------------------------------- /odometry/experiments/run_experiment_rn50_8n_sim2real.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/run_experiment_rn50_8n_sim2real.sh -------------------------------------------------------------------------------- /odometry/experiments/run_experiment_rn50_gibson_0.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/run_experiment_rn50_gibson_0.sh -------------------------------------------------------------------------------- /odometry/experiments/run_experiment_rn50_sim2real.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/experiments/run_experiment_rn50_sim2real.sh -------------------------------------------------------------------------------- /odometry/losses/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/losses/__init__.py -------------------------------------------------------------------------------- /odometry/losses/losses.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/losses/losses.py -------------------------------------------------------------------------------- /odometry/metrics/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/metrics/__init__.py -------------------------------------------------------------------------------- /odometry/metrics/metrics.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/metrics/metrics.py -------------------------------------------------------------------------------- /odometry/models/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/models/__init__.py -------------------------------------------------------------------------------- /odometry/models/models.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/models/models.py -------------------------------------------------------------------------------- /odometry/optims/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/optims/__init__.py -------------------------------------------------------------------------------- /odometry/optims/optims.py: -------------------------------------------------------------------------------- 1 | from torch.optim import Adam # noqa -------------------------------------------------------------------------------- /odometry/schedulers/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/schedulers/__init__.py -------------------------------------------------------------------------------- /odometry/schedulers/schedulers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/schedulers/schedulers.py -------------------------------------------------------------------------------- /odometry/schedulers/warmup_schedulers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/schedulers/warmup_schedulers.py -------------------------------------------------------------------------------- /odometry/trainers/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/trainers/__init__.py -------------------------------------------------------------------------------- /odometry/trainers/base_trainer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/trainers/base_trainer.py -------------------------------------------------------------------------------- /odometry/trainers/online_dataset_trainer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/trainers/online_dataset_trainer.py -------------------------------------------------------------------------------- /odometry/trainers/static_dataset_trainer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/trainers/static_dataset_trainer.py -------------------------------------------------------------------------------- /odometry/utils/__init__.py: -------------------------------------------------------------------------------- 1 | from .utils import set_random_seed, transform_batch 2 | -------------------------------------------------------------------------------- /odometry/utils/early_stopping.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/utils/early_stopping.py -------------------------------------------------------------------------------- /odometry/utils/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/odometry/utils/utils.py -------------------------------------------------------------------------------- /pointgoal_navigation_install.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/pointgoal_navigation_install.sh -------------------------------------------------------------------------------- /print_dataset_stats.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/print_dataset_stats.py -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /run_customized_ddppo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/run_customized_ddppo.py -------------------------------------------------------------------------------- /run_ddppo.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/run_ddppo.py -------------------------------------------------------------------------------- /run_ddppo_joint.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/run_ddppo_joint.py -------------------------------------------------------------------------------- /test/config_files/odometry/vonet.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/test/config_files/odometry/vonet.yaml -------------------------------------------------------------------------------- /test/config_files/odometry/vonet_v2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/test/config_files/odometry/vonet_v2.yaml -------------------------------------------------------------------------------- /test/config_files/odometry/vonet_v3.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/test/config_files/odometry/vonet_v3.yaml -------------------------------------------------------------------------------- /test/config_files/odometry/vonet_v4.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/test/config_files/odometry/vonet_v4.yaml -------------------------------------------------------------------------------- /test/config_files/ppo_pointnav_test.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/test/config_files/ppo_pointnav_test.yaml -------------------------------------------------------------------------------- /test/config_files/tasks/pointnav.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/test/config_files/tasks/pointnav.yaml -------------------------------------------------------------------------------- /test/test_ddppo_reduce.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/test/test_ddppo_reduce.py -------------------------------------------------------------------------------- /test/test_vo_model_create_and_forward.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/test/test_vo_model_create_and_forward.py -------------------------------------------------------------------------------- /train_odometry.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/train_odometry.py -------------------------------------------------------------------------------- /train_odometry_v2.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/train_odometry_v2.py -------------------------------------------------------------------------------- /trajectory-sampling/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/README.md -------------------------------------------------------------------------------- /trajectory-sampling/agent/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/agent/__init__.py -------------------------------------------------------------------------------- /trajectory-sampling/agent/agent.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/agent/agent.py -------------------------------------------------------------------------------- /trajectory-sampling/agent/ddppo_agents.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/agent/ddppo_agents.py -------------------------------------------------------------------------------- /trajectory-sampling/agent/policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/agent/policy.py -------------------------------------------------------------------------------- /trajectory-sampling/agent/resnet.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/agent/resnet.py -------------------------------------------------------------------------------- /trajectory-sampling/agent/shortest_path_follower.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/agent/shortest_path_follower.py -------------------------------------------------------------------------------- /trajectory-sampling/agent/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/agent/utils.py -------------------------------------------------------------------------------- /trajectory-sampling/clean_started_scenes.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/clean_started_scenes.py -------------------------------------------------------------------------------- /trajectory-sampling/config/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/config/__init__.py -------------------------------------------------------------------------------- /trajectory-sampling/config/default_model_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/config/default_model_config.py -------------------------------------------------------------------------------- /trajectory-sampling/config/default_rl_config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/config/default_rl_config.py -------------------------------------------------------------------------------- /trajectory-sampling/environment/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/environment/__init__.py -------------------------------------------------------------------------------- /trajectory-sampling/environment/build_env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/environment/build_env.py -------------------------------------------------------------------------------- /trajectory-sampling/environment/env.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/environment/env.py -------------------------------------------------------------------------------- /trajectory-sampling/generate_dataset.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | set -e 4 | 5 | python generate_trajectory_dataset.py $@ 6 | -------------------------------------------------------------------------------- /trajectory-sampling/generate_dataset_par.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/generate_dataset_par.sh -------------------------------------------------------------------------------- /trajectory-sampling/generate_trajectory_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/generate_trajectory_dataset.py -------------------------------------------------------------------------------- /trajectory-sampling/generate_trajectory_dataset_par.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/generate_trajectory_dataset_par.py -------------------------------------------------------------------------------- /trajectory-sampling/merge_datasets.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/merge_datasets.py -------------------------------------------------------------------------------- /trajectory-sampling/print_started_scenes_time.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/print_started_scenes_time.py -------------------------------------------------------------------------------- /trajectory-sampling/run_generation.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/run_generation.sh -------------------------------------------------------------------------------- /trajectory-sampling/run_generation_sim2real.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/run_generation_sim2real.sh -------------------------------------------------------------------------------- /trajectory-sampling/run_generation_sim2real_val.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rpartsey/pointgoal-navigation/HEAD/trajectory-sampling/run_generation_sim2real_val.sh --------------------------------------------------------------------------------