├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── cbe ├── README.md ├── __init__.py ├── args.py ├── dataset.py ├── dataset_server.py ├── dataset_server_config │ ├── cbe.yaml │ ├── cbe2.yaml │ ├── cbe_96.yaml │ └── rpf.yaml ├── envs.py ├── eval_tracker.py ├── eval_tracker_common.py ├── evaluations │ ├── __init__.py │ └── run.sh ├── experiments │ ├── gibson2_18env │ │ ├── default │ │ │ └── model_spec.yaml │ │ └── rpf │ │ │ └── model_spec.yaml │ ├── run_gibson2_18env.sh │ └── run_gibson2_18env_rpf.sh ├── inference.py ├── inference_server.py ├── model_factory.py ├── networks.py ├── train_cbe.py ├── train_fixture.py └── train_rpf.py ├── configs ├── gibson_persistent_servers │ └── local.yaml ├── global_params.yaml ├── minirccar_240fov_params.yaml ├── minirccar_240fov_v2.yaml ├── rccar_240fov_params2.yaml └── turtlebot_240fov_params.yaml ├── docs └── screenshot.png ├── requirements.txt ├── rmp_nav ├── common │ ├── __init__.py │ ├── compile_math_utils.sh │ ├── image_combiner.py │ ├── math_utils.cpp │ ├── math_utils.py │ ├── text_utils.py │ └── utils.py ├── data_generation │ ├── gen_gibson2_trajectories_parallel.sh │ ├── gen_trajectories.py │ ├── gen_trajectories_common.py │ └── map_params.yaml ├── neural │ ├── common │ │ ├── __init__.py │ │ └── dataset.py │ └── regress_rmp_visual │ │ ├── inference.py │ │ ├── math_utils.py │ │ └── networks.py └── simulation │ ├── __init__.py │ ├── agent_factory.py │ ├── agent_factory_common.py │ ├── agent_factory_minirccar.py │ ├── agent_factory_rccar.py │ ├── agent_factory_turtlebot.py │ ├── agent_solvers.py │ ├── agent_utils.py │ ├── agent_visualizers.py │ ├── agents.py │ ├── cached_drawing.py │ ├── compile_map_utils.sh │ ├── gibson2_map.py │ ├── gibson2_sim_client.py │ ├── gibson2_sim_server.py │ ├── gibson_filler.py │ ├── gibson_filler_server.py │ ├── gibson_filler_tensorrt.py │ ├── gibson_map.py │ ├── gibson_renderer.py │ ├── gibson_sim_client.py │ ├── gibson_sim_server.py │ ├── line_utils.py │ ├── map_2dline.py │ ├── map_factory.py │ ├── map_occupancy_grid.py │ ├── map_utils.cpp │ ├── map_utils.py │ ├── map_visualizer.py │ ├── param_utils.py │ ├── rmp.py │ ├── sensors.py │ ├── sim_gui_wx.py │ └── sim_renderer.py ├── set_envs.sh ├── tools ├── build_rangelibc.sh ├── compile_python_cpp_libs.sh ├── gibson2_18envs_gpu01_128.yaml ├── gibson2_18envs_gpu67_128.yaml ├── gibson2_testenvs_gpu01_128.yaml ├── gibson_12envs_gpu01_128.yaml ├── gibson_2envs_gpu01_128.yaml ├── gibson_space2_gpu0_128.yaml ├── gibson_space8_gpu0_128.yaml ├── launch_sim_server_load_balancer_multi.py └── run_sim.py └── topological_nav ├── README.md ├── controller ├── README.md ├── __init__.py ├── args.py ├── dataset.py ├── experiments │ ├── 12env │ │ └── multiframe_dst │ │ │ └── future │ │ │ └── pair │ │ │ └── pred_proximity │ │ │ └── pred_heading_diff │ │ │ └── conv │ │ │ └── model_spec.yaml │ └── run_12env.sh ├── inference.py ├── inference_server.py ├── networks.py ├── train_fixture.py └── train_multiframe_dst.py ├── nav_graphs ├── cse2roboticslab │ └── graph_config.yaml └── space8 │ └── graph_config.yaml ├── reachability ├── __init__.py ├── dataset.py ├── inference_server.py ├── model_factory.py ├── networks.py ├── planning.py ├── sparsify_traj.py └── traj_following.py └── tools ├── __init__.py ├── build_graph.sh ├── build_nav_graph.py ├── eval_controller_common.py ├── eval_controller_multiframe_dst.py ├── eval_envs.py ├── eval_planning.py ├── eval_traj_following.py └── eval_traj_following_common.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/.gitmodules -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/README.md -------------------------------------------------------------------------------- /cbe/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/README.md -------------------------------------------------------------------------------- /cbe/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /cbe/args.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/args.py -------------------------------------------------------------------------------- /cbe/dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/dataset.py -------------------------------------------------------------------------------- /cbe/dataset_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/dataset_server.py -------------------------------------------------------------------------------- /cbe/dataset_server_config/cbe.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/dataset_server_config/cbe.yaml -------------------------------------------------------------------------------- /cbe/dataset_server_config/cbe2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/dataset_server_config/cbe2.yaml -------------------------------------------------------------------------------- /cbe/dataset_server_config/cbe_96.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/dataset_server_config/cbe_96.yaml -------------------------------------------------------------------------------- /cbe/dataset_server_config/rpf.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/dataset_server_config/rpf.yaml -------------------------------------------------------------------------------- /cbe/envs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/envs.py -------------------------------------------------------------------------------- /cbe/eval_tracker.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/eval_tracker.py -------------------------------------------------------------------------------- /cbe/eval_tracker_common.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/eval_tracker_common.py -------------------------------------------------------------------------------- /cbe/evaluations/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /cbe/evaluations/run.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/evaluations/run.sh -------------------------------------------------------------------------------- /cbe/experiments/gibson2_18env/default/model_spec.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/experiments/gibson2_18env/default/model_spec.yaml -------------------------------------------------------------------------------- /cbe/experiments/gibson2_18env/rpf/model_spec.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/experiments/gibson2_18env/rpf/model_spec.yaml -------------------------------------------------------------------------------- /cbe/experiments/run_gibson2_18env.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/experiments/run_gibson2_18env.sh -------------------------------------------------------------------------------- /cbe/experiments/run_gibson2_18env_rpf.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/experiments/run_gibson2_18env_rpf.sh -------------------------------------------------------------------------------- /cbe/inference.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/inference.py -------------------------------------------------------------------------------- /cbe/inference_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/inference_server.py -------------------------------------------------------------------------------- /cbe/model_factory.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/model_factory.py -------------------------------------------------------------------------------- /cbe/networks.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/networks.py -------------------------------------------------------------------------------- /cbe/train_cbe.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/train_cbe.py -------------------------------------------------------------------------------- /cbe/train_fixture.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/train_fixture.py -------------------------------------------------------------------------------- /cbe/train_rpf.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/cbe/train_rpf.py -------------------------------------------------------------------------------- /configs/gibson_persistent_servers/local.yaml: -------------------------------------------------------------------------------- 1 | all: [ 2 | "tcp://localhost:5000", 3 | ] 4 | -------------------------------------------------------------------------------- /configs/global_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/configs/global_params.yaml -------------------------------------------------------------------------------- /configs/minirccar_240fov_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/configs/minirccar_240fov_params.yaml -------------------------------------------------------------------------------- /configs/minirccar_240fov_v2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/configs/minirccar_240fov_v2.yaml -------------------------------------------------------------------------------- /configs/rccar_240fov_params2.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/configs/rccar_240fov_params2.yaml -------------------------------------------------------------------------------- /configs/turtlebot_240fov_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/configs/turtlebot_240fov_params.yaml -------------------------------------------------------------------------------- /docs/screenshot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/docs/screenshot.png -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/requirements.txt -------------------------------------------------------------------------------- /rmp_nav/common/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /rmp_nav/common/compile_math_utils.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/common/compile_math_utils.sh -------------------------------------------------------------------------------- /rmp_nav/common/image_combiner.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/common/image_combiner.py -------------------------------------------------------------------------------- /rmp_nav/common/math_utils.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/common/math_utils.cpp -------------------------------------------------------------------------------- /rmp_nav/common/math_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/common/math_utils.py -------------------------------------------------------------------------------- /rmp_nav/common/text_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/common/text_utils.py -------------------------------------------------------------------------------- /rmp_nav/common/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/common/utils.py -------------------------------------------------------------------------------- /rmp_nav/data_generation/gen_gibson2_trajectories_parallel.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/data_generation/gen_gibson2_trajectories_parallel.sh -------------------------------------------------------------------------------- /rmp_nav/data_generation/gen_trajectories.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/data_generation/gen_trajectories.py -------------------------------------------------------------------------------- /rmp_nav/data_generation/gen_trajectories_common.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/data_generation/gen_trajectories_common.py -------------------------------------------------------------------------------- /rmp_nav/data_generation/map_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/data_generation/map_params.yaml -------------------------------------------------------------------------------- /rmp_nav/neural/common/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /rmp_nav/neural/common/dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/neural/common/dataset.py -------------------------------------------------------------------------------- /rmp_nav/neural/regress_rmp_visual/inference.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/neural/regress_rmp_visual/inference.py -------------------------------------------------------------------------------- /rmp_nav/neural/regress_rmp_visual/math_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/neural/regress_rmp_visual/math_utils.py -------------------------------------------------------------------------------- /rmp_nav/neural/regress_rmp_visual/networks.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/neural/regress_rmp_visual/networks.py -------------------------------------------------------------------------------- /rmp_nav/simulation/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /rmp_nav/simulation/agent_factory.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/agent_factory.py -------------------------------------------------------------------------------- /rmp_nav/simulation/agent_factory_common.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/agent_factory_common.py -------------------------------------------------------------------------------- /rmp_nav/simulation/agent_factory_minirccar.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/agent_factory_minirccar.py -------------------------------------------------------------------------------- /rmp_nav/simulation/agent_factory_rccar.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/agent_factory_rccar.py -------------------------------------------------------------------------------- /rmp_nav/simulation/agent_factory_turtlebot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/agent_factory_turtlebot.py -------------------------------------------------------------------------------- /rmp_nav/simulation/agent_solvers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/agent_solvers.py -------------------------------------------------------------------------------- /rmp_nav/simulation/agent_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/agent_utils.py -------------------------------------------------------------------------------- /rmp_nav/simulation/agent_visualizers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/agent_visualizers.py -------------------------------------------------------------------------------- /rmp_nav/simulation/agents.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/agents.py -------------------------------------------------------------------------------- /rmp_nav/simulation/cached_drawing.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/cached_drawing.py -------------------------------------------------------------------------------- /rmp_nav/simulation/compile_map_utils.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/compile_map_utils.sh -------------------------------------------------------------------------------- /rmp_nav/simulation/gibson2_map.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/gibson2_map.py -------------------------------------------------------------------------------- /rmp_nav/simulation/gibson2_sim_client.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/gibson2_sim_client.py -------------------------------------------------------------------------------- /rmp_nav/simulation/gibson2_sim_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/gibson2_sim_server.py -------------------------------------------------------------------------------- /rmp_nav/simulation/gibson_filler.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/gibson_filler.py -------------------------------------------------------------------------------- /rmp_nav/simulation/gibson_filler_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/gibson_filler_server.py -------------------------------------------------------------------------------- /rmp_nav/simulation/gibson_filler_tensorrt.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/gibson_filler_tensorrt.py -------------------------------------------------------------------------------- /rmp_nav/simulation/gibson_map.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/gibson_map.py -------------------------------------------------------------------------------- /rmp_nav/simulation/gibson_renderer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/gibson_renderer.py -------------------------------------------------------------------------------- /rmp_nav/simulation/gibson_sim_client.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/gibson_sim_client.py -------------------------------------------------------------------------------- /rmp_nav/simulation/gibson_sim_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/gibson_sim_server.py -------------------------------------------------------------------------------- /rmp_nav/simulation/line_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/line_utils.py -------------------------------------------------------------------------------- /rmp_nav/simulation/map_2dline.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/map_2dline.py -------------------------------------------------------------------------------- /rmp_nav/simulation/map_factory.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/map_factory.py -------------------------------------------------------------------------------- /rmp_nav/simulation/map_occupancy_grid.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/map_occupancy_grid.py -------------------------------------------------------------------------------- /rmp_nav/simulation/map_utils.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/map_utils.cpp -------------------------------------------------------------------------------- /rmp_nav/simulation/map_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/map_utils.py -------------------------------------------------------------------------------- /rmp_nav/simulation/map_visualizer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/map_visualizer.py -------------------------------------------------------------------------------- /rmp_nav/simulation/param_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/param_utils.py -------------------------------------------------------------------------------- /rmp_nav/simulation/rmp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/rmp.py -------------------------------------------------------------------------------- /rmp_nav/simulation/sensors.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/sensors.py -------------------------------------------------------------------------------- /rmp_nav/simulation/sim_gui_wx.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/sim_gui_wx.py -------------------------------------------------------------------------------- /rmp_nav/simulation/sim_renderer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/rmp_nav/simulation/sim_renderer.py -------------------------------------------------------------------------------- /set_envs.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/set_envs.sh -------------------------------------------------------------------------------- /tools/build_rangelibc.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/tools/build_rangelibc.sh -------------------------------------------------------------------------------- /tools/compile_python_cpp_libs.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/tools/compile_python_cpp_libs.sh -------------------------------------------------------------------------------- /tools/gibson2_18envs_gpu01_128.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/tools/gibson2_18envs_gpu01_128.yaml -------------------------------------------------------------------------------- /tools/gibson2_18envs_gpu67_128.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/tools/gibson2_18envs_gpu67_128.yaml -------------------------------------------------------------------------------- /tools/gibson2_testenvs_gpu01_128.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/tools/gibson2_testenvs_gpu01_128.yaml -------------------------------------------------------------------------------- /tools/gibson_12envs_gpu01_128.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/tools/gibson_12envs_gpu01_128.yaml -------------------------------------------------------------------------------- /tools/gibson_2envs_gpu01_128.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/tools/gibson_2envs_gpu01_128.yaml -------------------------------------------------------------------------------- /tools/gibson_space2_gpu0_128.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/tools/gibson_space2_gpu0_128.yaml -------------------------------------------------------------------------------- /tools/gibson_space8_gpu0_128.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/tools/gibson_space8_gpu0_128.yaml -------------------------------------------------------------------------------- /tools/launch_sim_server_load_balancer_multi.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/tools/launch_sim_server_load_balancer_multi.py -------------------------------------------------------------------------------- /tools/run_sim.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/tools/run_sim.py -------------------------------------------------------------------------------- /topological_nav/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/README.md -------------------------------------------------------------------------------- /topological_nav/controller/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/controller/README.md -------------------------------------------------------------------------------- /topological_nav/controller/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /topological_nav/controller/args.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/controller/args.py -------------------------------------------------------------------------------- /topological_nav/controller/dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/controller/dataset.py -------------------------------------------------------------------------------- /topological_nav/controller/experiments/12env/multiframe_dst/future/pair/pred_proximity/pred_heading_diff/conv/model_spec.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/controller/experiments/12env/multiframe_dst/future/pair/pred_proximity/pred_heading_diff/conv/model_spec.yaml -------------------------------------------------------------------------------- /topological_nav/controller/experiments/run_12env.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/controller/experiments/run_12env.sh -------------------------------------------------------------------------------- /topological_nav/controller/inference.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/controller/inference.py -------------------------------------------------------------------------------- /topological_nav/controller/inference_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/controller/inference_server.py -------------------------------------------------------------------------------- /topological_nav/controller/networks.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/controller/networks.py -------------------------------------------------------------------------------- /topological_nav/controller/train_fixture.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/controller/train_fixture.py -------------------------------------------------------------------------------- /topological_nav/controller/train_multiframe_dst.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/controller/train_multiframe_dst.py -------------------------------------------------------------------------------- /topological_nav/nav_graphs/cse2roboticslab/graph_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/nav_graphs/cse2roboticslab/graph_config.yaml -------------------------------------------------------------------------------- /topological_nav/nav_graphs/space8/graph_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/nav_graphs/space8/graph_config.yaml -------------------------------------------------------------------------------- /topological_nav/reachability/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /topological_nav/reachability/dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/reachability/dataset.py -------------------------------------------------------------------------------- /topological_nav/reachability/inference_server.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/reachability/inference_server.py -------------------------------------------------------------------------------- /topological_nav/reachability/model_factory.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/reachability/model_factory.py -------------------------------------------------------------------------------- /topological_nav/reachability/networks.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/reachability/networks.py -------------------------------------------------------------------------------- /topological_nav/reachability/planning.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/reachability/planning.py -------------------------------------------------------------------------------- /topological_nav/reachability/sparsify_traj.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/reachability/sparsify_traj.py -------------------------------------------------------------------------------- /topological_nav/reachability/traj_following.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/reachability/traj_following.py -------------------------------------------------------------------------------- /topological_nav/tools/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /topological_nav/tools/build_graph.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/tools/build_graph.sh -------------------------------------------------------------------------------- /topological_nav/tools/build_nav_graph.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/tools/build_nav_graph.py -------------------------------------------------------------------------------- /topological_nav/tools/eval_controller_common.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/tools/eval_controller_common.py -------------------------------------------------------------------------------- /topological_nav/tools/eval_controller_multiframe_dst.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/tools/eval_controller_multiframe_dst.py -------------------------------------------------------------------------------- /topological_nav/tools/eval_envs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/tools/eval_envs.py -------------------------------------------------------------------------------- /topological_nav/tools/eval_planning.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/tools/eval_planning.py -------------------------------------------------------------------------------- /topological_nav/tools/eval_traj_following.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/tools/eval_traj_following.py -------------------------------------------------------------------------------- /topological_nav/tools/eval_traj_following_common.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xymeng/rmp_nav/HEAD/topological_nav/tools/eval_traj_following_common.py --------------------------------------------------------------------------------