├── LICENSE ├── README.md ├── deps ├── experiment_launcher │ ├── LICENSE │ ├── MANIFEST.in │ ├── Makefile │ ├── README.md │ ├── examples │ │ ├── basic │ │ │ ├── launch_test.py │ │ │ └── test.py │ │ ├── config_files │ │ │ ├── configs │ │ │ │ ├── config00.yaml │ │ │ │ └── config01.yaml │ │ │ ├── launch_test.py │ │ │ └── test.py │ │ ├── multi_exp_same_gpu │ │ │ ├── launch_test.py │ │ │ └── test.py │ │ └── start_seed │ │ │ ├── launch_test.py │ │ │ └── test.py │ ├── experiment_launcher │ │ ├── __init__.py │ │ ├── decorators.py │ │ ├── exceptions.py │ │ ├── launcher.py │ │ └── utils.py │ ├── requirements.txt │ └── setup.py ├── motion_planning_baselines │ ├── LICENSE │ ├── README.md │ ├── mp_baselines │ │ ├── __init__.py │ │ └── planners │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── chomp.py │ │ │ ├── costs │ │ │ ├── __init__.py │ │ │ ├── cost_functions.py │ │ │ └── factors │ │ │ │ ├── __init__.py │ │ │ │ ├── field_factor.py │ │ │ │ ├── gp_factor.py │ │ │ │ ├── mp_priors_multi.py │ │ │ │ └── unary_factor.py │ │ │ ├── dynamics │ │ │ ├── __init__.py │ │ │ └── point.py │ │ │ ├── gpmp2.py │ │ │ ├── hybrid_planner.py │ │ │ ├── identity_planner.py │ │ │ ├── mppi.py │ │ │ ├── multi_processing.py │ │ │ ├── multi_sample_based_planner.py │ │ │ ├── priors │ │ │ ├── __init__.py │ │ │ └── gaussian.py │ │ │ ├── rrt_base.py │ │ │ ├── rrt_connect.py │ │ │ ├── rrt_star.py │ │ │ ├── stoch_gpmp.py │ │ │ ├── stomp.py │ │ │ └── utils.py │ ├── requirements.txt │ └── setup.py └── torch_robotics │ ├── CITATION.cff │ ├── LICENSE │ ├── MANIFEST.in │ ├── README.md │ ├── examples │ ├── forward_kinematics.py │ └── inverse_kinematics.py │ ├── requirements.txt │ ├── setup.py │ └── torch_robotics │ ├── __init__.py │ ├── environments │ ├── __init__.py │ ├── env_base.py │ ├── env_conveyor_2d.py │ ├── env_conveyor_2d_extra_objects.py │ ├── env_drop_region_2d.py │ ├── env_drop_region_2d_extra_objects.py │ ├── env_empty_2d.py │ ├── env_empty_2d_extra_objects.py │ ├── env_empty_nowait_2d.py │ ├── env_empty_nowait_2d_extra_objects.py │ ├── env_ensemble.py │ ├── env_highways_2d.py │ ├── env_highways_2d_extra_objects.py │ ├── grid_map_sdf.py │ ├── objects.py │ ├── occupancy_map.py │ ├── primitives.py │ └── utils.py │ ├── robots │ ├── __init__.py │ ├── robot_base.py │ └── robot_planar_disk.py │ ├── tasks │ ├── __init__.py │ ├── tasks.py │ └── tasks_ensemble.py │ ├── torch_kinematics_tree │ ├── __init__.py │ ├── geometrics │ │ ├── distributions.py │ │ ├── euclidean.py │ │ ├── frame.py │ │ ├── manifold.py │ │ ├── quaternion.py │ │ ├── skeleton.py │ │ ├── spatial_vector.py │ │ ├── trajectory.py │ │ └── utils.py │ ├── models │ │ ├── LICENSE │ │ ├── __init__.py │ │ ├── rigid_body.py │ │ ├── robot_tree.py │ │ ├── robots.py │ │ └── utils.py │ └── utils │ │ ├── __init__.py │ │ └── files.py │ ├── torch_planning_objectives │ ├── __init__.py │ └── fields │ │ ├── __init__.py │ │ └── distance_fields.py │ ├── torch_utils │ ├── __init__.py │ ├── seed.py │ ├── torch_timer.py │ └── torch_utils.py │ ├── trajectory │ ├── __init__.py │ ├── metrics.py │ └── utils.py │ └── visualizers │ ├── __init__.py │ ├── ensemble_planning_visualizer.py │ ├── planning_visualizer.py │ └── plot_utils.py ├── environment.yml ├── media ├── mmd_5.gif ├── mmd_five_dropregion.gif ├── mmd_four_1x2.gif ├── mmd_six_circle.gif ├── mmd_six_conveyor.gif ├── mmd_ten_highways.gif └── mmd_youtube.png ├── mmd ├── __init__.py ├── common │ ├── __init__.py │ ├── conflict_conversion.py │ ├── conflicts.py │ ├── constraints.py │ ├── experiences.py │ ├── experiments │ │ ├── __init__.py │ │ ├── experiment_utils.py │ │ └── experiments.py │ ├── multi_agent_utils.py │ ├── pretty_print.py │ └── trajectory_utils.py ├── config │ ├── __init__.py │ ├── mmd_experiment_configs.py │ └── mmd_params.py ├── datasets │ ├── __init__.py │ ├── normalization.py │ └── trajectories.py ├── losses │ ├── __init__.py │ └── gaussian_diffusion_loss.py ├── models │ ├── __init__.py │ ├── diffusion_models │ │ ├── __init__.py │ │ ├── diffusion_ensemble.py │ │ ├── diffusion_model_base.py │ │ ├── guides.py │ │ ├── helpers.py │ │ ├── mlp_score_model.py │ │ ├── sample_functions.py │ │ ├── sbm_likelihood.py │ │ ├── score_model_base.py │ │ └── temporal_unet.py │ ├── generic │ │ ├── __init__.py │ │ ├── mlp_model.py │ │ └── no_model.py │ ├── helpers │ │ ├── __init__.py │ │ └── utils.py │ └── layers │ │ ├── __init__.py │ │ ├── equiv_layers.py │ │ ├── identity.py │ │ ├── layers.py │ │ └── layers_attention.py ├── planners │ ├── __init__.py │ ├── multi_agent │ │ ├── __init__.py │ │ ├── cbs.py │ │ └── prioritized_planning.py │ └── single_agent │ │ ├── __init__.py │ │ ├── common.py │ │ ├── mpd.py │ │ ├── mpd_ensemble.py │ │ └── single_agent_planner_base.py ├── plotting │ ├── __init__.py │ └── base.py ├── summaries │ ├── __init__.py │ ├── summary_base.py │ └── summary_trajectory_generation.py ├── trainer │ ├── __init__.py │ ├── train_loaders.py │ └── trainer.py └── utils │ ├── __init__.py │ ├── decorators.py │ ├── eval_helpers.py 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