├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── assets ├── find_shoes.png ├── framework.png ├── spatial_reason.png └── user_sim.png ├── demos ├── demo.jpg ├── demo_gradcam_output.jpg ├── demo_groundedsam_output.jpg ├── demo_lseg_output.jpg ├── play_chatgpt_api.py ├── play_gradcam.py ├── play_groundingSAM.py ├── play_habitat_teleop.py ├── play_interactive_gradio.py ├── play_interactive_terminal.py └── play_lseg.py ├── orion ├── __init__.py ├── abstract │ ├── __init__.py │ ├── agent.py │ ├── interaction_history.py │ ├── interfaces.py │ ├── memory.py │ ├── perception.py │ ├── pose.py │ └── usersim.py ├── agent_env │ ├── chatgpt_control_base.py │ ├── chatgpt_control_cow.py │ ├── chatgpt_control_orion.py │ ├── chatgpt_control_vlmap.py │ ├── fbe.py │ ├── habitat │ │ ├── base.py │ │ ├── holonomic_actions.py │ │ └── utils.py │ ├── hybrid_search.py │ └── teleop.py ├── chatgpt │ ├── __init__.py │ ├── api.py │ └── prompts │ │ ├── __init__.py │ │ ├── agent_functions.py │ │ ├── agent_prompts.py │ │ ├── baseline_cow_prompt.py │ │ ├── baseline_vlmap_prompt.py │ │ ├── usersim_prompts_correction.py │ │ ├── usersim_prompts_description.py │ │ ├── usersim_prompts_instruction.py │ │ ├── usersim_prompts_landmark.py │ │ ├── usersim_prompts_mix.py │ │ └── usersim_prompts_none.py ├── config │ ├── __init__.py │ ├── chatgpt_config.py │ ├── my_config.py │ └── my_objectnav_hm3d.yaml ├── gradio_init_img.jpg ├── map │ ├── __init__.py │ ├── map.py │ ├── map_build │ │ └── build_voxel.py │ ├── map_search │ │ ├── search_base.py │ │ └── search_voxel.py │ ├── occupancy.py │ ├── voxel.py │ └── voxel_sparse.py ├── memory │ └── neural_memory2d.py ├── navigation │ ├── fmm_planner.py │ ├── frontier_based_exploration.py │ ├── shortest_path_follower_wrapper.py │ └── waypoint_planner.py ├── perception │ ├── __init__.py │ ├── detector │ │ ├── __init__.py │ │ ├── clipgradcam.py │ │ └── groundingSAM.py │ └── extractor │ │ ├── __init__.py │ │ ├── clipbase.py │ │ ├── concept_fusion_extractor.py │ │ └── lseg_extractor.py ├── user_simulator │ ├── __init__.py │ ├── base.py │ ├── chatgpt_based_sim.py │ ├── goals │ │ ├── 4ok3usBNeis │ │ │ ├── final.json │ │ │ └── objects.json │ │ ├── LT9Jq6dN3Ea │ │ │ ├── final.json │ │ │ └── objects.json │ │ ├── MHPLjHsuG27 │ │ │ ├── final.json │ │ │ └── objects.json │ │ ├── QaLdnwvtxbs │ │ │ ├── final.json │ │ │ └── objects.json │ │ ├── TEEsavR23oF │ │ │ ├── final.json │ │ │ └── objects.json │ │ ├── cvZr5TUy5C5 │ │ │ ├── final.json │ │ │ └── objects.json │ │ ├── h1zeeAwLh9Z │ │ │ ├── final.json │ │ │ └── objects.json │ │ ├── mL8ThkuaVTM │ │ │ ├── final.json │ │ │ └── objects.json │ │ ├── qyAac8rV8Zk │ │ │ ├── final.json │ │ │ └── objects.json │ │ └── y9hTuugGdiq │ │ │ ├── final.json │ │ │ └── objects.json │ ├── rule_based_sim.py │ ├── topograph.py │ └── user_goal.py └── utils │ ├── __init__.py │ ├── clip_score_utils.py │ ├── file_load.py │ ├── geometry.py │ ├── gradio_interface.py │ └── visulization.py ├── requirements.txt ├── scripts ├── build_vlmap.py ├── collect_scene_fbe.py ├── create_video.py ├── user_agent_talk_cf.py ├── user_agent_talk_cow.py ├── user_agent_talk_orion.py └── user_agent_talk_vlmap.py ├── setup.py └── tests ├── test_fmm_planner.py ├── test_gradio_helloworld.py ├── test_point_planner.py └── test_vlmap_planner.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sled-group/navchat/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sled-group/navchat/HEAD/.gitmodules -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sled-group/navchat/HEAD/LICENSE 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