├── 19scenes.png ├── LICENSE ├── README.md ├── aachen.png ├── code ├── cluster_dataset.py ├── esac │ ├── esac.cpp │ ├── esac_derivative.h │ ├── esac_loss.h │ ├── esac_types.h │ ├── esac_util.h │ ├── setup.py │ ├── stop_watch.h │ ├── thread_rand.cpp │ └── thread_rand.h ├── expert.py ├── expert_ensemble.py ├── gating.py ├── init_expert.py ├── init_gating.py ├── ref_expert.py ├── room_dataset.py ├── test_esac.py ├── train_esac.py └── util.py ├── datasets ├── setup_12scenes.py ├── setup_7scenes.py ├── setup_aachen.py └── setup_dubrovnik.py ├── dubrovnik.png ├── environments ├── 12scenes │ ├── README.md │ ├── dl_pretrained_model.sh │ └── env_list.txt ├── 19scenes │ ├── README.md │ ├── dl_pretrained_model.sh │ └── env_list.txt ├── 7scenes │ ├── README.md │ ├── dl_pretrained_model.sh │ └── env_list.txt ├── aachen │ ├── README.md │ ├── dl_pretrained_model.sh │ └── env_list.txt └── dubronvik │ ├── README.md │ ├── dl_pretrained_model.sh │ └── env_list.txt └── esac_intro.png /19scenes.png: 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