├── .VERSION ├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── allenact ├── __init__.py ├── _constants.py ├── algorithms │ ├── __init__.py │ ├── offpolicy_sync │ │ ├── __init__.py │ │ └── losses │ │ │ ├── __init__.py │ │ │ └── abstract_offpolicy_loss.py │ └── onpolicy_sync │ │ ├── __init__.py │ │ ├── engine.py │ │ ├── losses │ │ ├── __init__.py │ │ ├── a2cacktr.py │ │ ├── abstract_loss.py │ │ ├── grouped_action_imitation.py │ │ ├── imitation.py │ │ └── ppo.py │ │ ├── misc.py │ │ ├── policy.py │ │ ├── runner.py │ │ ├── storage.py │ │ └── vector_sampled_tasks.py ├── base_abstractions │ ├── __init__.py │ ├── callbacks.py │ ├── distributions.py │ ├── experiment_config.py │ ├── misc.py │ ├── preprocessor.py │ ├── sensor.py │ └── task.py ├── embodiedai │ ├── __init__.py │ ├── aux_losses │ │ ├── __init__.py │ │ └── losses.py │ ├── mapping │ │ ├── __init__.py │ │ ├── mapping_losses.py │ │ ├── mapping_models │ │ │ ├── __init__.py │ │ │ └── active_neural_slam.py │ │ └── mapping_utils │ │ │ ├── __init__.py │ │ │ ├── map_builders.py │ │ │ └── point_cloud_utils.py │ ├── models │ │ ├── __init__.py │ │ ├── aux_models.py │ │ ├── basic_models.py │ │ ├── fusion_models.py │ │ ├── resnet.py │ │ └── visual_nav_models.py │ ├── preprocessors │ │ ├── __init__.py │ │ └── resnet.py │ ├── sensors │ │ ├── __init__.py │ │ └── vision_sensors.py │ └── storage │ │ ├── __init__.py │ │ └── vdr_storage.py ├── main.py ├── setup.py └── utils │ ├── __init__.py │ ├── cache_utils.py │ ├── cacheless_frcnn.py │ ├── experiment_utils.py │ ├── inference.py │ ├── misc_utils.py │ ├── model_utils.py │ ├── multi_agent_viz_utils.py │ ├── spaces_utils.py │ ├── system.py │ ├── tensor_utils.py │ └── viz_utils.py ├── allenact_plugins ├── __init__.py ├── callbacks │ ├── __init__.py │ ├── callback_sensors.py │ ├── extra_requirements.txt │ └── wandb_callback.py ├── clip_plugin │ ├── __init__.py │ ├── clip_preprocessors.py │ ├── extra_environment.yml │ └── extra_requirements.txt ├── distributions │ ├── __init__.py │ └── distributions.py ├── ithor_plugin │ ├── __init__.py │ ├── extra_environment.yml │ ├── extra_requirements.txt │ ├── ithor_constants.py │ ├── ithor_environment.py │ ├── ithor_sensors.py │ ├── ithor_task_samplers.py │ ├── ithor_tasks.py │ ├── ithor_util.py │ ├── ithor_viz.py │ └── scripts │ │ ├── __init__.py │ │ ├── make_objectnav_debug_dataset.py │ │ └── make_pointnav_debug_dataset.py ├── models │ ├── __init__.py │ ├── actor_critic_RND.py │ ├── actor_critic_models.py │ ├── actor_critic_visual.py │ ├── discrete_actor_critic.py │ ├── nn │ │ ├── __init__.py │ │ ├── cnn.py │ │ ├── mlp.py │ │ ├── resnet.py │ │ └── visual_base.py │ └── visuomotor_with_prompt.py ├── navigation_plugin │ ├── __init__.py │ ├── objectnav │ │ ├── __init__.py │ │ └── models.py │ └── pointnav │ │ ├── __init__.py │ │ └── models.py ├── robothor_plugin │ ├── __init__.py │ ├── configs │ │ └── __init__.py │ ├── extra_environment.yml │ ├── extra_requirements.txt │ ├── robothor_constants.py │ ├── robothor_distributions.py │ ├── robothor_environment.py │ ├── robothor_models.py │ ├── robothor_preprocessors.py │ ├── robothor_sensors.py │ ├── robothor_task_samplers.py │ ├── robothor_tasks.py │ ├── robothor_viz.py │ └── scripts │ │ ├── __init__.py │ │ ├── make_objectnav_debug_dataset.py │ │ └── make_pointnav_debug_dataset.py ├── sawyer_peg_plugin │ ├── __init__.py │ ├── base.py │ ├── constants.py │ ├── registered_envs.py │ ├── sawyer_peg_assets │ │ ├── objects │ │ │ ├── assets │ │ │ │ ├── peg_block.xml │ │ │ │ ├── peg_block_dependencies.xml │ │ │ │ ├── peg_block_random_hole.xml │ │ │ │ ├── peg_insert.xml │ │ │ │ ├── peg_insert_dependencies.xml │ │ │ │ ├── xyz_base.xml │ │ │ │ └── xyz_base_dependencies.xml │ │ │ ├── meshes │ │ │ │ ├── peg_block │ │ │ │ │ ├── block_inner.stl │ │ │ │ │ └── block_outer.stl │ │ │ │ ├── table │ │ │ │ │ ├── table_hole.stl │ │ │ │ │ ├── table_hole2.stl │ │ │ │ │ ├── tablebody.stl │ │ │ │ │ └── tabletop.stl │ │ │ │ └── xyz_base │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── eGripperBase.stl │ │ │ │ │ ├── head.stl │ │ │ │ │ ├── l0.stl │ │ │ │ │ ├── l1.stl │ │ │ │ │ ├── l2.stl │ │ │ │ │ ├── l3.stl │ │ │ │ │ ├── l4.stl │ │ │ │ │ ├── l5.stl │ │ │ │ │ ├── l6.stl │ │ │ │ │ └── pedestal.stl │ │ │ ├── peg_insert.xml │ │ │ └── xyz_base.xml │ │ ├── sawyer_xyz │ │ │ ├── sawyer_peg_insertion_side.xml │ │ │ └── sawyer_peg_insertion_side_small_table.xml │ │ └── scene │ │ │ ├── basic_scene.xml │ │ │ ├── basic_scene_b.xml │ │ │ ├── basic_scene_c.xml │ │ │ └── basic_scene_small_table.xml │ ├── sawyer_peg_env.py │ ├── sawyer_peg_plugins.py │ └── state_distribution_wrapper.py ├── setup.py ├── stretch_manipulathor_plugin │ ├── __init__.py │ ├── categories.py │ ├── dataset_utils.py │ ├── strech_sensors.py │ ├── strech_task_sampler_exproom.py │ ├── stretch_arm_environment.py │ ├── stretch_constants.py │ ├── stretch_sim2real_utils.py │ ├── stretch_tasks │ │ ├── __init__.py │ │ ├── strech_pick_place.py │ │ └── stretch_task_base.py │ └── stretch_utils.py ├── utils │ ├── __init__.py │ ├── array_tensor_utils.py │ ├── config_utils.py │ ├── env_utils.py │ ├── file_utils.py │ ├── measure_buffer.py │ ├── metics.py │ ├── plt_utils.py │ ├── video_utils.py │ └── wandb_utils.py └── wrappers │ ├── __init__.py │ ├── env_wrappers.py │ ├── exp_wrappers.py │ ├── sensor_wrappers.py │ ├── task_sampler_wrappers.py │ └── task_wrappers.py ├── conda ├── environment-base.yml └── environment-dev.yml ├── datasets ├── .gitignore ├── .habitat_datasets_download_info.json ├── .habitat_downloader_helper.py ├── download_habitat_datasets.sh └── download_navigation_datasets.sh ├── dev_requirements.txt ├── main.py ├── projects ├── __init__.py ├── objectnav │ ├── README.md │ ├── __init__.py │ └── experiments │ │ ├── __init__.py │ │ ├── clip │ │ ├── __init__.py │ │ ├── cfg │ │ │ └── clip_resnet50_gru.yaml │ │ ├── mixins.py │ │ ├── objectnav_robothor_rgb_clipresnet50gru_ddppo.py │ │ └── objnav_not_terminate_if_incorrect_done.py │ │ └── rmrl │ │ ├── 1e4.py │ │ ├── __init__.py │ │ ├── inf.py │ │ └── std.py ├── sawyer_peg │ ├── __init__.py │ └── experiments │ │ ├── __init__.py │ │ ├── cfg │ │ ├── low_dim.yaml │ │ ├── visual.yaml │ │ └── visual_4_proc.yaml │ │ ├── measure_variations │ │ ├── __init__.py │ │ ├── visual_dtw.py │ │ ├── visual_entropy.py │ │ ├── visual_euclidean.py │ │ └── visual_std.py │ │ ├── method │ │ ├── __init__.py │ │ ├── visual.py │ │ ├── visual_adv.py │ │ └── visual_random_1e4.py │ │ ├── tests │ │ ├── __init__.py │ │ ├── dtw │ │ │ ├── __init__.py │ │ │ ├── visual_test_in_domain.py │ │ │ ├── visual_test_novel_box.py │ │ │ └── visual_test_small_table.py │ │ ├── entropy │ │ │ ├── __init__.py │ │ │ ├── visual_test_in_domain.py │ │ │ ├── visual_test_novel_box.py │ │ │ └── visual_test_small_table.py │ │ ├── euclidean │ │ │ ├── __init__.py │ │ │ ├── visual_test_in_domain.py │ │ │ ├── visual_test_novel_box.py │ │ │ └── visual_test_small_table.py │ │ ├── others │ │ │ ├── __init__.py │ │ │ ├── visual_adv_1e4_in_domain.py │ │ │ ├── visual_adv_1e4_novel_box.py │ │ │ ├── visual_random_1e4_in_domain.py │ │ │ └── visual_random_1e4_novel_box.py │ │ └── std │ │ │ ├── __init__.py │ │ │ ├── visual_test_in_domain.py │ │ │ ├── visual_test_novel_box.py │ │ │ └── visual_test_small_table.py │ │ └── visual_base.py └── strech_manipulation │ ├── __init__.py │ └── experiments │ ├── __init__.py │ ├── budget_measure_ablation │ ├── __init__.py │ ├── base.py │ ├── cfg │ │ └── rgb.yaml │ ├── dtw_random.py │ ├── dtw_random_four_combo.py │ ├── dtw_random_sixteen_combo.py │ ├── entropy_random.py │ ├── entropy_random_four_combo.py │ ├── entropy_random_sixteen.py │ ├── euclidean_random.py │ ├── euclidean_random_four_combos.py │ ├── euclidean_random_sixteen_combos.py │ ├── random_irr_four_combos.py │ ├── random_irr_single_combo.py │ └── random_irr_sixteen_combos.py │ ├── episodic_variations │ ├── 1e3.py │ ├── 1e3_four_combos.py │ ├── 1e3_sixteen_combos.py │ ├── 1e4.py │ ├── 1e4_four_combos.py │ ├── 1e4_sixteen_combos.py │ ├── 250k.py │ ├── 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