├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── eval.rviz ├── explorer_x1.rviz ├── gbplanner.rviz ├── gbplanner │ ├── explorer_x1 │ │ ├── gbplanner_config.yaml │ │ ├── planner_control_interface_sim_config.yaml │ │ └── voxblox_sim_config.yaml │ └── smb │ │ ├── gbplanner_config.yaml │ │ ├── planner_control_interface_sim_config.yaml │ │ └── voxblox_sim_config.yaml ├── gbplanner_trajopt.rviz ├── ground_truth.rviz ├── marv.rviz ├── occlusion.rviz ├── rewarder.rviz ├── rqt_multiplot_map_eval.xml ├── subt.rviz ├── tradr.rviz └── x1.rviz ├── docs ├── darpa_subt.md ├── demo.md ├── demo.png ├── eval.md ├── install.md ├── naex.md └── singularity.md ├── launch ├── actual_expected_coster_rewarder.launch ├── actual_reward.launch ├── detector.launch ├── detector_x1.launch ├── eval.launch ├── gbplanner.launch ├── gbplanner_trajopt.launch ├── map_accumulator.launch ├── meshes_gt_pub.launch ├── naex.launch ├── play.launch ├── points_occlusions.launch ├── record.launch ├── rewards_accumulator.launch ├── rpz_planner.launch ├── rpz_predictor.launch ├── save_poses.launch └── travelled_dist.launch ├── msg └── Metrics.msg ├── notebooks ├── compare_gt_map_mesh_to_point_cloud.ipynb ├── dist_mask_params_estimation.ipynb ├── local_rewards_costs.ipynb ├── local_rewards_costs.xls ├── merge_meshes_from_world.ipynb ├── metrics_xls_parser-caves-gbplanner.ipynb ├── metrics_xls_parser-caves.ipynb ├── metrics_xls_parser-finals_qual-gbplanner.ipynb ├── metrics_xls_parser-finals_qual-sensor-models-dist-only.ipynb ├── metrics_xls_parser-finals_qual.ipynb ├── metrics_xls_parser-gbplanner_naex_trajopt.ipynb └── metrics_xls_parser-traversability-caves.ipynb ├── package.xml ├── params ├── gbplanner.yaml └── naex_trajopt.yaml ├── scripts ├── points_occlusion ├── rpz_planner └── utils │ ├── actual_expected_coster_rewarder.py │ ├── eval.py │ ├── map_accumulator.py │ ├── meshes_gt_pub.py │ ├── play_tf_static │ ├── pose_array_to_path.py │ ├── publish_mesh.py │ ├── rewarder.py │ ├── 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