diff --git a/1-room/run02/9759746_facing_north.png b/1-room/run02/9759746_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..480d44e5484d8bdcf32141f78198dded1d6b6bdb
--- /dev/null
+++ b/1-room/run02/9759746_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b9b2bdec9a7a8d7b7c62ed92c507fa33a47f4fdae16c75ec702f25fc48166b1
+size 373020
diff --git a/1-room/run02/top_down/img_0000.png b/1-room/run02/top_down/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1204c6b0589de89ebbf5ce7912f30b12b3bc7e47
--- /dev/null
+++ b/1-room/run02/top_down/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a822e8d8ac53923894e0a051571202cb234611bc051ee4608f77a33441482ea
+size 273009
diff --git a/1-room/run03/1908938_facing_east.png b/1-room/run03/1908938_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..22309f84d96ce62d139dbfbd53f4325830e25b4e
--- /dev/null
+++ b/1-room/run03/1908938_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda1504bda9e1fe1ba4f8cf928be461085818184a08f3bcf9c3301cc22fe57e5
+size 344959
diff --git a/1-room/run03/1908938_facing_north.png b/1-room/run03/1908938_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..058fc08f28bb6978053b3b55a354eb523d186258
--- /dev/null
+++ b/1-room/run03/1908938_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90e7c86b72a4b6fc53fca9ad0ea0aa185741d0c163fc13770b7b676156d136fc
+size 347073
diff --git a/1-room/run03/1908938_facing_northeast.png b/1-room/run03/1908938_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..95654504543190dfae6d3dd83d72586b9e4f8c12
--- /dev/null
+++ b/1-room/run03/1908938_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e9b3c59481e7baa61ef0e73c04f66c80a8f31d2d99be262af3f91e2ad046984
+size 360856
diff --git a/1-room/run03/1908938_facing_northwest.png b/1-room/run03/1908938_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5a5407d9dbdc867d1f30b2e311a9fa4e925214a
--- /dev/null
+++ b/1-room/run03/1908938_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:374a2085e903616632d8720cdd94e25b67ddd41bddf089dccae9de25379d2ca1
+size 367439
diff --git a/1-room/run03/1908938_facing_south.png b/1-room/run03/1908938_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4f9846f41bfa4dc55c8e1624b5c88b12a1e40a4
--- /dev/null
+++ b/1-room/run03/1908938_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15dcad34bbccc1f996b8360c38fcff400d7a9c0eebcca9309aedbbe33c90d331
+size 319134
diff --git a/1-room/run03/1908938_facing_southeast.png b/1-room/run03/1908938_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..924d4a6db5eb02445dfbf44dc2c2bbe339084da4
--- /dev/null
+++ b/1-room/run03/1908938_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:985ffe6956bdf560fc1c1ca452001d44d6f658566319e839ea54abff7c308fae
+size 361589
diff --git a/1-room/run03/1908938_facing_southwest.png b/1-room/run03/1908938_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcd949a736cc066e414adc6873b8acd4db860c49
--- /dev/null
+++ b/1-room/run03/1908938_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3292dc2a8d9cb8480ed36d4b50d64cb26244050d4e6a5ca16bf9fe42dc36b45e
+size 345928
diff --git a/1-room/run03/1908938_facing_west.png b/1-room/run03/1908938_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..0595f7a6268f684e4db7831ce7666eda1e737108
--- /dev/null
+++ b/1-room/run03/1908938_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77bb8891ad099b9226e9ccf62db9b34c753287f3d037e48bf15856bb82e448ed
+size 331425
diff --git a/1-room/run03/1_1_facing_east.png b/1-room/run03/1_1_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7cf99b975b4ad643ea306c08cbd831f8b43ca3a
--- /dev/null
+++ b/1-room/run03/1_1_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e4aca7c02e41106ab7e9dfc0020d156b3e0e0c47a6002aa6fd265da7c1e505
+size 365128
diff --git a/1-room/run03/2118131_facing_east.png b/1-room/run03/2118131_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..502680bbab7872793c81cee92ae85d9c465f0489
--- /dev/null
+++ b/1-room/run03/2118131_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b9fde984daaafd13ef1689d2cbda8092ceb2517573ea21f397c101cd5349cd
+size 337613
diff --git a/1-room/run03/2118131_facing_north.png b/1-room/run03/2118131_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbe3360ad252bdc43989968301c4d62abeadc5df
--- /dev/null
+++ b/1-room/run03/2118131_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:369d656967ca7661813933bf43b249412abc7ee13c6d7622330d82d204c29aa4
+size 358503
diff --git a/1-room/run03/2118131_facing_northeast.png b/1-room/run03/2118131_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..b89334ae9a2e415d2969aff971b5e072915835d1
--- /dev/null
+++ b/1-room/run03/2118131_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e24acca4f6ef9c7b643800e732fd66d951eb11c6f37d13e8c0cc44c902b5c56c
+size 365331
diff --git a/1-room/run03/2118131_facing_northwest.png b/1-room/run03/2118131_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..b22fbd08047be038857ed7352fe6288a63071681
--- /dev/null
+++ b/1-room/run03/2118131_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13d5dcce3265a651d54700cb354224529fec2ab163e694c7878ada5d2acbfc80
+size 393362
diff --git a/1-room/run03/2118131_facing_south.png b/1-room/run03/2118131_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..377460760c01fb2bbe755aaa467f23919b88aa72
--- /dev/null
+++ b/1-room/run03/2118131_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:722a1628a9e50e4e17a8bcc318d15a861c11ca0a883d5f93cfb8632d82bd85de
+size 329357
diff --git a/1-room/run03/2118131_facing_southeast.png b/1-room/run03/2118131_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fe69bf8def6b0012fad413db47cea4e31c339ab
--- /dev/null
+++ b/1-room/run03/2118131_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ebd54931b9fcad62df3b223069cff51d97030cf2341964880a76285f8b93a98
+size 356396
diff --git a/1-room/run03/2118131_facing_southwest.png b/1-room/run03/2118131_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e2408660fd7cbeaab958d95e3f4e6dd56c7e7fe
--- /dev/null
+++ b/1-room/run03/2118131_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e5fd77758042c660623bc59293122665c399d1210190db6c4286b1b0997575b
+size 368821
diff --git a/1-room/run03/2118131_facing_west.png b/1-room/run03/2118131_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc1384f57695a27e3832eba40b6870fee9310e73
--- /dev/null
+++ b/1-room/run03/2118131_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07def7660559592e8571cd40c52c02982ad345cceab4c18b6f5297dca6c430fb
+size 334755
diff --git a/1-room/run03/2_3_facing_north.png b/1-room/run03/2_3_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc152ebfb54837b6a32fdf82a4de0f32221e2e90
--- /dev/null
+++ b/1-room/run03/2_3_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b0408700713e15cad26015c3131c3ffaaa65e9fe9ea800070bcf51fb4acd4af
+size 358704
diff --git a/1-room/run03/3931195_facing_east.png b/1-room/run03/3931195_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..1986a1a4e29b1d1e329073dd095050943e08adb4
--- /dev/null
+++ b/1-room/run03/3931195_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84beb60471301e2def5ee427063e1dfe2ea23886ce9d7ae3635a653d3f4c1c69
+size 365333
diff --git a/1-room/run03/3931195_facing_north.png b/1-room/run03/3931195_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac0d3a43067575b5f16a56a0d67b0c1a929f7430
--- /dev/null
+++ b/1-room/run03/3931195_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf43fe0cf278aafe5e4b1575dec665cf2328fcae1d4e5eefabf70cc90ce7490
+size 393524
diff --git a/1-room/run03/3931195_facing_northeast.png b/1-room/run03/3931195_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..71407d0df26dcca46d57e9d8ee11dbbb3ac86c45
--- /dev/null
+++ b/1-room/run03/3931195_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:663519e122011489de734654894858204992aa716f362f313dc75114f377f06e
+size 405594
diff --git a/1-room/run03/3931195_facing_northwest.png b/1-room/run03/3931195_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..da4b2ced694816d86918fec9271091ddaed1c3c1
--- /dev/null
+++ b/1-room/run03/3931195_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ffdeb03fc14aaee16de383b9ba6df7431e33cf5a54db350369b0f4ad1011e72
+size 417432
diff --git a/1-room/run03/3931195_facing_south.png b/1-room/run03/3931195_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..e98245713bd6b3bc6c9390096043d878a6a4a043
--- /dev/null
+++ b/1-room/run03/3931195_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef3db92df92fff8d3bb29f76793299ccb75adc0ca692d85a3cdcb316f54a61e8
+size 339065
diff --git a/1-room/run03/3931195_facing_southeast.png b/1-room/run03/3931195_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a358c50d23d18867634f79beb9f12ac757ed297
--- /dev/null
+++ b/1-room/run03/3931195_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03cebb3f6309709008ba30786f3485ff814a038443ffb4e92831104c1bbb87e0
+size 353959
diff --git a/1-room/run03/3931195_facing_southwest.png b/1-room/run03/3931195_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..b79e8b77d84761ca67e0a1d0e4b9f4c7e852795e
--- /dev/null
+++ b/1-room/run03/3931195_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9a80ef57cd90859bbc0f57b4b863eee61b880ce97c692b2403962296f26c4db
+size 374561
diff --git a/1-room/run03/3931195_facing_west.png b/1-room/run03/3931195_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..f590a5272c79852117bd063f189ad92f179aadac
--- /dev/null
+++ b/1-room/run03/3931195_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb086101a3d6d9657f509a93a137dfde46d092c3b265b62d891f583e76aa6398
+size 373435
diff --git a/1-room/run03/4149338_facing_east.png b/1-room/run03/4149338_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..eea0cbfce31d89e695c463727b84c843cc3b7d7c
--- /dev/null
+++ b/1-room/run03/4149338_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e6c69cdb78242825b22ee17253e94033776bc4dcbc624b7db4f766658dc5cc
+size 400751
diff --git a/1-room/run03/4149338_facing_north.png b/1-room/run03/4149338_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..aaa07dda588167f6a3455a4d010393fa73165438
--- /dev/null
+++ b/1-room/run03/4149338_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdae080cebbef4ce9d7e18173c042a5e1e985c54d446c5ed409b9c4620eafd55
+size 394888
diff --git a/1-room/run03/4149338_facing_northeast.png b/1-room/run03/4149338_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..02ec0ef9284b9256afc2299e795567977b671840
--- /dev/null
+++ b/1-room/run03/4149338_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef64c84323057aa3436d4bf32247ac5228f5fe9db4397c1276a8c67d23ea872a
+size 418196
diff --git a/1-room/run03/4149338_facing_northwest.png b/1-room/run03/4149338_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec8d08f4a5af7e3216104e6254c3fdc3fe6e2c35
--- /dev/null
+++ b/1-room/run03/4149338_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9abd7df752ce04a407f5be4868f9dc261adda858eb986202924e40459629908b
+size 401610
diff --git a/1-room/run03/4149338_facing_south.png b/1-room/run03/4149338_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6dde02fc5240787fc41c1943365b31ee21df7ab
--- /dev/null
+++ b/1-room/run03/4149338_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa214e464b34507a7936389c12366d774d21ff6a16aea647c0e42118d5496c4b
+size 362258
diff --git a/1-room/run03/4149338_facing_southeast.png b/1-room/run03/4149338_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..d46c2476e706f24c26fc270294651b69f4be412e
--- /dev/null
+++ b/1-room/run03/4149338_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f48c73b6be9188bd0804d94fe86e6c8998a92a3c6f81c1b0c28e98d4a9f2bd28
+size 410610
diff --git a/1-room/run03/4149338_facing_southwest.png b/1-room/run03/4149338_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..29ca2e145e0b952132bcb7400399cf72c13b704f
--- /dev/null
+++ b/1-room/run03/4149338_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69b654f567c8d2d84bebfef6fc294f5d0170f84f44183e32ee4400e6538e6f0f
+size 336595
diff --git a/1-room/run03/4149338_facing_west.png b/1-room/run03/4149338_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..1340057ea54c715d964a52efc19c0d8abbeaf6b4
--- /dev/null
+++ b/1-room/run03/4149338_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6307f7137cd9c51dafb15ed1af8d3c45803e3c54af850e77fc8923dd9e5369fb
+size 357379
diff --git a/1-room/run03/5_2_facing_north.png b/1-room/run03/5_2_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cb9663e9b5ac393c12eb9233445a95db2ac7ed0
--- /dev/null
+++ b/1-room/run03/5_2_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a0fb3b4af93c6e3b606202b08f8e47aa5f754af1245102ef2dae75b39fc7fa5
+size 344542
diff --git a/1-room/run03/agent_facing_east.png b/1-room/run03/agent_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..3abecf9c8e963ea209e2b4181edef2237a5cb75f
--- /dev/null
+++ b/1-room/run03/agent_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e9964cc41467a3a64a7f1c1a00ad255f8e2c3e07df9f38f30af29ef9554c08
+size 388612
diff --git a/1-room/run03/agent_facing_north.png b/1-room/run03/agent_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..352f821412210495900c13d0a834da7626fe39c3
--- /dev/null
+++ b/1-room/run03/agent_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26ad61168d50c48661c1eb5cd14c930222cf605430ee2d6e0562433ea4f623de
+size 339410
diff --git a/1-room/run03/agent_facing_northeast.png b/1-room/run03/agent_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..609b0238546650f2b9005c55802f66726e2a11ab
--- /dev/null
+++ b/1-room/run03/agent_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d5317b702c15aa6b8ccefee611f9c26a5615e67040efc6df8ee68f5729680dc
+size 366767
diff --git a/1-room/run03/agent_facing_northwest.png b/1-room/run03/agent_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5fa6ac400fc86bfa90bcf708a4bf21377d6aa26
--- /dev/null
+++ b/1-room/run03/agent_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebbf668d540b2b394407d4e7c0fc2ea25916bb1f0d7da2e182a94dc7070b3fa3
+size 351669
diff --git a/1-room/run03/agent_facing_south.png b/1-room/run03/agent_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..0944f6bb80d174fa9239c31014cc212a87c36f01
--- /dev/null
+++ b/1-room/run03/agent_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ff18ba7065e0b2bd560c5d6019dd17374efb724e86d63f994fa1ed0ec3096a7
+size 363969
diff --git a/1-room/run03/agent_facing_southeast.png b/1-room/run03/agent_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..836908f4117bd6d3d94c8734ef1e51b541a3bd02
--- /dev/null
+++ b/1-room/run03/agent_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:348985b779b19a7ea39a4b880099a5e314329a355ccabef796b296c96d854b8e
+size 416994
diff --git a/1-room/run03/agent_facing_southwest.png b/1-room/run03/agent_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..25934bfeb8d27961d45f5dbac7d56a957d7661a5
--- /dev/null
+++ b/1-room/run03/agent_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70a3aa311ec5af87d78fc15dbe76d5b8c84beb447a18ad4613ad6f8b21acd3bc
+size 415091
diff --git a/1-room/run03/agent_facing_west.png b/1-room/run03/agent_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..e919c81c92014cc5586d4854fc96748e8045ebac
--- /dev/null
+++ b/1-room/run03/agent_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cac5349e9c54fd51d713678a1c271c2c838695f63b90b7d4241304898195c8c
+size 364016
diff --git a/1-room/run03/agent_seg_debug.png b/1-room/run03/agent_seg_debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d1d9f51302a7ac45fcc77c7452a2827d04c7b0b
--- /dev/null
+++ b/1-room/run03/agent_seg_debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a93994d9859ed4685eb6ebc0100b7659bcefdec8ef417bf2ec085d70c8815e5
+size 694
diff --git a/1-room/run03/main_cam/img_0000.png b/1-room/run03/main_cam/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a7fa8ee6d8f847ff43969e3766250f4f5e10b98
--- /dev/null
+++ b/1-room/run03/main_cam/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cc153d6d0c3e54fadd9ae50a3d85d556a5997e930706d3c5358eed953430518
+size 208816
diff --git a/1-room/run03/orientation_instruction.png b/1-room/run03/orientation_instruction.png
new file mode 100644
index 0000000000000000000000000000000000000000..79bc932dbff0d2223d79379e2ad500b52f467703
--- /dev/null
+++ b/1-room/run03/orientation_instruction.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bac520d0fe000173edca9c3d3309470979123c51164e531c5aecd5318e76079
+size 881126
diff --git a/1-room/run03/top_down.png b/1-room/run03/top_down.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4bc3b4d7aa3f649c5e52289cde6b03ecbb072be
--- /dev/null
+++ b/1-room/run03/top_down.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:586df97bdfa2c6c077651e62dd422a813489699e4ba5c5967f81aea75a6bf87d
+size 508758
diff --git a/1-room/run03/top_down/img_0000.png b/1-room/run03/top_down/img_0000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1204c6b0589de89ebbf5ce7912f30b12b3bc7e47
--- /dev/null
+++ b/1-room/run03/top_down/img_0000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a822e8d8ac53923894e0a051571202cb234611bc051ee4608f77a33441482ea
+size 273009
diff --git a/1-room/run03/top_down_annotated.png b/1-room/run03/top_down_annotated.png
new file mode 100644
index 0000000000000000000000000000000000000000..17e635e8ff539c78474be2a496afda5c02c5ebc5
--- /dev/null
+++ b/1-room/run03/top_down_annotated.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c62a4b464a0db12a9ca80dbf2682806b4a654e451c1753245cf882e69c178d
+size 558757
diff --git a/1-room/run03/top_down_empty.png b/1-room/run03/top_down_empty.png
new file mode 100644
index 0000000000000000000000000000000000000000..6de28f77b634edeb0a390bbdc2dbdc59cd8793ea
--- /dev/null
+++ b/1-room/run03/top_down_empty.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0966ed8b371a5f452f3fbe457939609944dd9219763d35dd69045e70c1c4d061
+size 229926
diff --git a/1-room/run04/2_4_facing_east.png b/1-room/run04/2_4_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..5acce1625caee4e799e08e22d8beaff8766d740e
--- /dev/null
+++ b/1-room/run04/2_4_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a40e8d0ffba36c0da91f18d98fa73f3d22e008ab223dff065c3336e3f85683b
+size 340879
diff --git a/1-room/run04/3_3_facing_east.png b/1-room/run04/3_3_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9d89545b2951b027daff9073e574cf3a17922c5
--- /dev/null
+++ b/1-room/run04/3_3_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8553f5d99cf1f631dd3959cff50dc1f9e3c2a13819cd61f988c7acfb7deeb462
+size 347544
diff --git a/1-room/run04/4645496_facing_east.png b/1-room/run04/4645496_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5f11d8d2ee77c59c4b0148f7bfa7dcb3470e5bb
--- /dev/null
+++ b/1-room/run04/4645496_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fefa35ce9503f3eacb9ecc7da8946d28ac966e36e94ec246e75ede18a8891691
+size 400852
diff --git a/1-room/run04/4645496_facing_north.png b/1-room/run04/4645496_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c2197a86c8968177551f41092681e9faf71f857
--- /dev/null
+++ b/1-room/run04/4645496_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d17b3983c0a4018d46552f66559aa792d54323d158dca680c8dfb9209581f2
+size 393298
diff --git a/1-room/run04/4645496_facing_northeast.png b/1-room/run04/4645496_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..915c03afc6279df8079375d25c7cbb9d91c3f6f3
--- /dev/null
+++ b/1-room/run04/4645496_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b99f4528db7f22966bf52beccb628f700b433d16759daafd68048b405891dc47
+size 416317
diff --git a/1-room/run04/4645496_facing_northwest.png b/1-room/run04/4645496_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..128763cc508959d11485e555094001c225d6c380
--- /dev/null
+++ b/1-room/run04/4645496_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6be2e436955f550f8a6168ed922349d979af7f6d4c4355bf478c2fd1b1d858f
+size 398440
diff --git a/1-room/run04/4645496_facing_southwest.png b/1-room/run04/4645496_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..23fc7867939dcb3cd4538aa1b9b64aaef045e428
--- /dev/null
+++ b/1-room/run04/4645496_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f1920378a7cdde0850029071638869684622966c1d300983a771ea26b311a2c
+size 343898
diff --git a/1-room/run04/4645496_facing_west.png b/1-room/run04/4645496_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..050e12447b6245bc23e3a4e0e1b424a3a5ef4328
--- /dev/null
+++ b/1-room/run04/4645496_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe2a71da7c39b6cbc7bcc104cef6ed5b0d6bf1c068e79432a42da5c06c9da560
+size 357898
diff --git a/1-room/run04/5938071_facing_east.png b/1-room/run04/5938071_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..90fc66e9ee3ac78ccdec750a811b09e5a718f4e4
--- /dev/null
+++ b/1-room/run04/5938071_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0db7a38219beba1c7f215a89acba271dd132dd7c32d73cc54b2b6a6147d2e07
+size 350660
diff --git a/1-room/run04/5938071_facing_north.png b/1-room/run04/5938071_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..2959f9f0f3c6b60b56c958e6296b7a5f1394927b
--- /dev/null
+++ b/1-room/run04/5938071_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0a72881ebaaa2287163df160020f37352e8294bd76af87d7ef1428d28491e2e
+size 338737
diff --git a/1-room/run04/5938071_facing_northeast.png b/1-room/run04/5938071_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..372be61c63e40c642ff7ee4e64d043755397f211
--- /dev/null
+++ b/1-room/run04/5938071_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c31c6928892d1ad51151076fa95167aaf436642945370dd8d261031051fe15f
+size 371063
diff --git a/1-room/run04/5938071_facing_northwest.png b/1-room/run04/5938071_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..7051096a421f6933d93a437d7749eba106e292cb
--- /dev/null
+++ b/1-room/run04/5938071_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e01f2a0a3843a6a574c5a91b65c187101b2b08e4f37b9a1161470a115cdf20
+size 356738
diff --git a/1-room/run04/5938071_facing_south.png b/1-room/run04/5938071_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..be06524bb00a65c90bf3db7969e315f2aecd424c
--- /dev/null
+++ b/1-room/run04/5938071_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c968b12a17f8aacac12632b99e6fcbd8c0c4ed4d7a55d03e916bb2274e29d45
+size 324554
diff --git a/1-room/run04/5938071_facing_southeast.png b/1-room/run04/5938071_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb9c1ff0a0e431ff9b0cbc186a9389adf44dcc1d
--- /dev/null
+++ b/1-room/run04/5938071_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f9253d16b47d7e1badb9cf8128864c3a39862b999de8e5d6372dfb2f85bc24
+size 370109
diff --git a/1-room/run04/5938071_facing_southwest.png b/1-room/run04/5938071_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..07141f2a15bc814d2f6935edf7dfd5ba01ae2b4c
--- /dev/null
+++ b/1-room/run04/5938071_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd2ed2537e68a585a425b673c610f6fb90c718ff0b5a0ba6559813729eb47bc
+size 346142
diff --git a/1-room/run04/8944301_facing_east.png b/1-room/run04/8944301_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2b1cb50df28fd0de3a22b219120a88c907d7118
--- /dev/null
+++ b/1-room/run04/8944301_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:221b5e184489ca37f749ed49c05b50759d9dc5459019de5eff28dbd3212cad52
+size 353428
diff --git a/1-room/run04/8944301_facing_north.png b/1-room/run04/8944301_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0f784b30866663fb6d2bd94adc1def3cd6e0eb6
--- /dev/null
+++ b/1-room/run04/8944301_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec02c1670ba641dc3c4bc789729f664fa9e11ceaaf6c9739b544d47ba3ab3165
+size 341336
diff --git a/1-room/run04/8944301_facing_northwest.png b/1-room/run04/8944301_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bd3af4ea4c0fd719a9f2936dc90fd0a27a763dc
--- /dev/null
+++ b/1-room/run04/8944301_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598b57ffd520adf877a87958f6279a288c07fd42042ec332c1db439e3898d207
+size 360938
diff --git a/1-room/run04/8944301_facing_southeast.png b/1-room/run04/8944301_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fd0f6b558d71ce525b2865c1daf148a053c0afa
--- /dev/null
+++ b/1-room/run04/8944301_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dee248fc45cf995d8a79189f1680fc86b033d1a2e8fe43e6a190c7405ca7030e
+size 378498
diff --git a/1-room/run04/8944301_facing_southwest.png b/1-room/run04/8944301_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..c31100b09fb6cbea76d4c2c21e83c5553cd9b225
--- /dev/null
+++ b/1-room/run04/8944301_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10ce47c893ecac7419326048806cb917dc5cf9fc8ebce6102d58f257035a8b20
+size 373677
diff --git a/1-room/run04/8944301_facing_west.png b/1-room/run04/8944301_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ef2cfdada1172363f353bee81384f3d820bb635
--- /dev/null
+++ b/1-room/run04/8944301_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b95d0d389d5d68520711366e2eb6666df62c759f9e25c01d2c349ccf90ed32c
+size 328447
diff --git a/1-room/run04/9778878_facing_east.png b/1-room/run04/9778878_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..703cfa3e32607673d310d1d8a583b71d50733d74
--- /dev/null
+++ b/1-room/run04/9778878_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0edd67e477839a7ca75635f10c1ef8d0b637454c02901ccba6be618cf0ff7eb4
+size 389596
diff --git a/1-room/run04/9778878_facing_north.png b/1-room/run04/9778878_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..b14c9d50bc56bb2e6abb566c83407ee324a2718d
--- /dev/null
+++ b/1-room/run04/9778878_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfc3ce2e27441f39a7f6507106aa77da1ac58951bbe6edca128b550c742099ac
+size 372345
diff --git a/1-room/run04/9778878_facing_northwest.png b/1-room/run04/9778878_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..34224e06f1605b3ecd7cb1d35fc8ee5dda081d1b
--- /dev/null
+++ b/1-room/run04/9778878_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21b5727f4748781eb40500c1debc21082762fb1a971c8d6229cb129e48f6155c
+size 367046
diff --git a/1-room/run04/9778878_facing_southeast.png b/1-room/run04/9778878_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..584f24f6e1e18afc5e8977736b41e08350d8b78a
--- /dev/null
+++ b/1-room/run04/9778878_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a7578d3cd15481303b3e52b1ea92184dc2dd592a21ccd876f38115691568c01
+size 408289
diff --git a/1-room/run04/9778878_facing_southwest.png b/1-room/run04/9778878_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..31bcbb7f4f3b7cfae42aba47ae69d7ed9f25649a
--- /dev/null
+++ b/1-room/run04/9778878_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:619d3deb2a0c00ef8ce0148b336db4abac2845a38a1c2765d3dd31e522ec7d0a
+size 347798
diff --git a/1-room/run04/9778878_facing_west.png b/1-room/run04/9778878_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..16773ca70db27fa138e8c1a47647084ca4ff845f
--- /dev/null
+++ b/1-room/run04/9778878_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08052aeacc040332d59f9ca740ba32a1c22359c0e32e2a5f5ee368be80ff507b
+size 326777
diff --git a/1-room/run04/agent_facing_east.png b/1-room/run04/agent_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e9679defc9b2987fb86aaf87d4d97dcff0a302d
--- /dev/null
+++ b/1-room/run04/agent_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4ec73ded1861a9f06efa503521edf6ea843bce44ca2670777d8a4a6e106e53
+size 365411
diff --git a/1-room/run04/agent_facing_north.png b/1-room/run04/agent_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..d035065a41e9c54884371009b73ad1ac077be6cf
--- /dev/null
+++ b/1-room/run04/agent_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af955dbac77ec744321f05f99b05f914b8dc98dc9201dbebf71eb0fecb363aeb
+size 407455
diff --git a/1-room/run04/agent_facing_northeast.png b/1-room/run04/agent_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..a711ee4814df319a2dcdf2bd45297772d2f7256d
--- /dev/null
+++ b/1-room/run04/agent_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06285b8f917dcc9f5aac33eab37edda1555e38c4dee2eb48e76da1a592c64ec3
+size 403025
diff --git a/1-room/run04/agent_facing_northwest.png b/1-room/run04/agent_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c7993458ae495d12e7ccab14c3f0c994086b693
--- /dev/null
+++ b/1-room/run04/agent_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:261f2c66b3b900dfae1ddbb559b6d1e5b8a0c2bc115a59ad277ebed854ef2321
+size 426543
diff --git a/1-room/run04/agent_facing_southeast.png b/1-room/run04/agent_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..5687ec8f34d6cedf03d738368ffc477a8f520c53
--- /dev/null
+++ b/1-room/run04/agent_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:649258881107ca451c41963f8923cdac1e729ebf614381b6032f0cda78dadc3c
+size 350387
diff --git a/1-room/run04/agent_facing_southwest.png b/1-room/run04/agent_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c72af5b32c438c37845554affef178af4077344
--- /dev/null
+++ b/1-room/run04/agent_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f0c3883a8fb33a5a0983c9d5f0ed172c6ac6706d763575a685f90efca3187cf
+size 399310
diff --git a/1-room/run04/agent_facing_west.png b/1-room/run04/agent_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6f97bb180d3b62bdac7340894f186c7ea1e6259
--- /dev/null
+++ b/1-room/run04/agent_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd7923ae85d783d9c5c2b21339a96627b1cdbd347629fbc69d492b996d1e8308
+size 369478
diff --git a/1-room/run04/agent_seg_debug.png b/1-room/run04/agent_seg_debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc01dac8ea41cf6c81a8f7dc98ef0c61ecb47e4d
--- /dev/null
+++ b/1-room/run04/agent_seg_debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aababd96ff5c20a07232f6960917b3d473cd9ea5f4319fdc8fcfeb9e9b3f38e2
+size 701
diff --git a/1-room/run04/orientation_instruction.png b/1-room/run04/orientation_instruction.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ebf49ca2d0ac3ee0b790a6d3c88859a07a6ca7a
--- /dev/null
+++ b/1-room/run04/orientation_instruction.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ed0b45a8ff66f418bfdb0fbbe9cd7eb021ea6c9abcbd77ec00c360e80c4f53
+size 856500
diff --git a/1-room/run04/top_down.png b/1-room/run04/top_down.png
new file mode 100644
index 0000000000000000000000000000000000000000..f92bed6b57006c0664622b4699e1ad7b62b032db
--- /dev/null
+++ b/1-room/run04/top_down.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7130168bfe29a64fcef228397c1e9b66028300947eaf8d997811ffefa8f6f2b4
+size 507687
diff --git a/1-room/run04/top_down_annotated.png b/1-room/run04/top_down_annotated.png
new file mode 100644
index 0000000000000000000000000000000000000000..56845c31e5a7dd1368d4fa69c35c29238edc70d5
--- /dev/null
+++ b/1-room/run04/top_down_annotated.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3061d0208ad93551321fa628121a336e00e9fad7e460cd30adf0497d1b70ea7a
+size 557111
diff --git a/1-room/run04/top_down_empty.png b/1-room/run04/top_down_empty.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b27cd06d6ce5de1869e8999b1f9c7071b62b4a3
--- /dev/null
+++ b/1-room/run04/top_down_empty.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a72270646bf84f85c159524aa8a7ee59af4d470057ba9b8c58f59c3b5e8e97a
+size 229458
diff --git a/2-room/run02/12_3_facing_west.png b/2-room/run02/12_3_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..88aef81d1cb4dd767b18f3dc92faae95ad6a0f1c
--- /dev/null
+++ b/2-room/run02/12_3_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ad0fe76d287f4dd9e27bd84bf7dd97fe9e4297b0a3685b768b9c0c6877203f9
+size 324233
diff --git a/2-room/run02/20062_facing_north.png b/2-room/run02/20062_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bbb9114a6f7a54e30100e4af933ecc2acad10c4
--- /dev/null
+++ b/2-room/run02/20062_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6dcbe8fa31f187dc56582076d1d03c39ac8a1620ff091d5d6c563915e3196f
+size 408419
diff --git a/2-room/run02/20062_facing_northeast.png b/2-room/run02/20062_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..d77857f506b80b5f3cb3dd526df1b7cbef8aecee
--- /dev/null
+++ b/2-room/run02/20062_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:042207e0e138bbe463261630f796a333d653eebdfe16db770c1ac2899ab272dd
+size 414921
diff --git a/2-room/run02/20062_facing_southwest.png b/2-room/run02/20062_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b2a0d0f627badee301d38f144e47ce5a9a19ea6
--- /dev/null
+++ b/2-room/run02/20062_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f7ae0c9e9c576f6bbcb2dae355ab51aa359103145d3ccc8472e15a7ce5a229c
+size 351252
diff --git a/2-room/run02/2105966_facing_northwest.png b/2-room/run02/2105966_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ead0a709e6e7b3b6b3870346a816652c1182cc0
--- /dev/null
+++ b/2-room/run02/2105966_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6830f60669b7d3e22cf5147524f708861bac8fcb229ef3f848a970263b714b7c
+size 406885
diff --git a/2-room/run02/2105966_facing_south.png b/2-room/run02/2105966_facing_south.png
new file mode 100644
index 0000000000000000000000000000000000000000..f37f52b53071a0ae4c4aad66d73ce36605ee5bb4
--- /dev/null
+++ b/2-room/run02/2105966_facing_south.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf8e80032bf58008fe2a901736e2fbf7879341fb84eb6147f3c5478182ada2d6
+size 332583
diff --git a/2-room/run02/2105966_facing_southeast.png b/2-room/run02/2105966_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..727fb6ab968c096f90c7f910e785b8e70f0400ff
--- /dev/null
+++ b/2-room/run02/2105966_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac7315aca44f33ad75d471779734a39559026787296ffbbfc3309841690b3d4
+size 356397
diff --git a/2-room/run02/3465640_facing_north.png b/2-room/run02/3465640_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..fefd9682e05478777c3d281ba4df604128394ac9
--- /dev/null
+++ b/2-room/run02/3465640_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:781fe4676f8d17860670d842cc3f037332af66218f7a4a805b1f70d1e0edb754
+size 350140
diff --git a/2-room/run02/3465640_facing_northeast.png b/2-room/run02/3465640_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ee866c1209ca6669d05379d708225cf47f25e07
--- /dev/null
+++ b/2-room/run02/3465640_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02f80241b983379854cc2dbabd560984a5d3792698ef8f62eb7d7d08e55925e0
+size 348142
diff --git a/2-room/run02/3465640_facing_southwest.png b/2-room/run02/3465640_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c5c072055b5155dcf9c31fc3d3fa0c993921993
--- /dev/null
+++ b/2-room/run02/3465640_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2035f59d4a20cb0b5ffca039397f96234e63e16a5f3cb1f372eba89ed348f057
+size 370089
diff --git a/2-room/run02/4409357_facing_north.png b/2-room/run02/4409357_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..7200bfcf44bca86ade715374d8c355eb5fb2dcfa
--- /dev/null
+++ b/2-room/run02/4409357_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f19e67cf14f82870c8c70c09499049c93fea207a6f38b7dcef113a95bc43c4cb
+size 373264
diff --git a/2-room/run02/4409357_facing_northeast.png b/2-room/run02/4409357_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb28ab728203184dfd705d10c8aa712ef78ea49a
--- /dev/null
+++ b/2-room/run02/4409357_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15f06062aca66eb5976d11b1757805df4f315cec522a1304b5ca51c0ce355ddb
+size 349810
diff --git a/2-room/run02/4409357_facing_southwest.png b/2-room/run02/4409357_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d9e55e235e7f2cb4bc67b03a62896323fd96e77
--- /dev/null
+++ b/2-room/run02/4409357_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0c70710f4d6f4f90ba3d13ef1bfa04f4452313be82492a56368f771f572603d
+size 413723
diff --git a/2-room/run02/4409357_facing_west.png b/2-room/run02/4409357_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ea65258e8524c4def28ae3dab3af3fc8e7055c7
--- /dev/null
+++ b/2-room/run02/4409357_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:242c56571fa37c9c4c944f387f388954a502078dbe47333a4297377c26573590
+size 366313
diff --git a/2-room/run02/4819318_facing_north.png b/2-room/run02/4819318_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d2b2db5fec81d8e947cae4b2436ce9658ec3e0e
--- /dev/null
+++ b/2-room/run02/4819318_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b6edea3d386a4d8e2956778d3493ef3d9a5f73ae54cd05a7a02eed64c2eb135
+size 369738
diff --git a/2-room/run02/4819318_facing_northwest.png b/2-room/run02/4819318_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ece6461feb91cb0b5f1f4bf5bddbfeb33a9d6ff
--- /dev/null
+++ b/2-room/run02/4819318_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f78fa9b5da7a29c026a56db978de5de8646e652c645306bc395cf45e08c40f82
+size 357923
diff --git a/2-room/run02/4819318_facing_southeast.png b/2-room/run02/4819318_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5a44dd787504d3150517e502fafe12e55a62776
--- /dev/null
+++ b/2-room/run02/4819318_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6881d00982e946f4089bf93392d632371c887fb6e7a04ac2e81af605a0f5835
+size 411792
diff --git a/2-room/run02/4819318_facing_west.png b/2-room/run02/4819318_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccf1dc7acf3eb2143af099a885bd595a6c5325f6
--- /dev/null
+++ b/2-room/run02/4819318_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d189f845936102a7f5e7c9f83b04d2ecd2de397c56122e2c150996bda0a78557
+size 322855
diff --git a/2-room/run02/6030544_facing_southwest.png b/2-room/run02/6030544_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..f191d4d1e278deae2f2f30e97f7a899dc8f4715e
--- /dev/null
+++ b/2-room/run02/6030544_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:750e0ddd61dc04821c99436dc742ea320c5c7cabde340484d25176606c4f2462
+size 370960
diff --git a/2-room/run02/7338730_facing_north.png b/2-room/run02/7338730_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..5edcf368695821d27bb0ca045beee6bdd4c0b641
--- /dev/null
+++ b/2-room/run02/7338730_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b942ff69a0210c4c761610d64c6151844dae7899610e64abafdfd91f243d3dea
+size 407254
diff --git a/2-room/run02/7338730_facing_northwest.png b/2-room/run02/7338730_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1061a48daa0d9b0e3c36d212f8d63eb9bca5bd0
--- /dev/null
+++ b/2-room/run02/7338730_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93998abba726917ac15597b2876e2d4020d63590cfedbb8fe234313b115d3029
+size 429219
diff --git a/2-room/run02/7338730_facing_southeast.png b/2-room/run02/7338730_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ba420fbb2c0a99e62d5fbbbc214401272299a90
--- /dev/null
+++ b/2-room/run02/7338730_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c8e6e985e14235d12a99ca3aa04693bc1cbb5834b24ed69c08eaa10305ce9f7
+size 349298
diff --git a/2-room/run02/8390812_facing_east.png b/2-room/run02/8390812_facing_east.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c839f98035e23556bb74e512718337d58fc87c9
--- /dev/null
+++ b/2-room/run02/8390812_facing_east.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e192205f83fe2fffc7088cac1cdd8d323b803ab92506ee12e9e60ae4aa7aaed
+size 348553
diff --git a/2-room/run02/8390812_facing_north.png b/2-room/run02/8390812_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..93a8492f4c7b0cca0704db7ba7f9d3914e9342c8
--- /dev/null
+++ b/2-room/run02/8390812_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8f5e68a56fcb1010ad06665816bc801b6cb4e5b49aee6705246061a45ab64db
+size 349712
diff --git a/2-room/run02/8390812_facing_southeast.png b/2-room/run02/8390812_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..e67f5718da28612dcebbc9bc6963e16516742907
--- /dev/null
+++ b/2-room/run02/8390812_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8a21e5ff04b05c2eb1e36f9002c66ba83054a1c38a97063bc5e4555e06551a0
+size 361409
diff --git a/2-room/run02/9459911_facing_north.png b/2-room/run02/9459911_facing_north.png
new file mode 100644
index 0000000000000000000000000000000000000000..d92e813fdfb22ec6c087ef125706fe4de4c38f4b
--- /dev/null
+++ b/2-room/run02/9459911_facing_north.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ba2b231ee952b08aea27006df3d501468bd8cd14a60d9379af50ba167517e34
+size 341543
diff --git a/2-room/run02/9459911_facing_northwest.png b/2-room/run02/9459911_facing_northwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..80f0cd014e86b681da5a54be68269f1e2bc22ecb
--- /dev/null
+++ b/2-room/run02/9459911_facing_northwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c216a0f1f3adf85c77e48bc5ea2c89e5f50e07f46e7a6cc3dd94f50272e0a24
+size 354664
diff --git a/2-room/run02/9459911_facing_southeast.png b/2-room/run02/9459911_facing_southeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..20d12f7e1d02fe63d04e62ef6fa68930027205d4
--- /dev/null
+++ b/2-room/run02/9459911_facing_southeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae51478442ecb0893ce631f96bc4f9ea0e7cc76babb62316e4719ad22bbb8d40
+size 391558
diff --git a/2-room/run02/9459911_facing_west.png b/2-room/run02/9459911_facing_west.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a4849977c77093df5f3015caa584da24d3dc19c
--- /dev/null
+++ b/2-room/run02/9459911_facing_west.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99fb2b3a897b0c963e5c730d02b8178c7b8f5d4b0834032337a218b9eb2ce619
+size 340738
diff --git a/2-room/run02/agent_facing_northeast.png b/2-room/run02/agent_facing_northeast.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6d5edd6b090e5c0ad3af298c3e600f7473cd176
--- /dev/null
+++ b/2-room/run02/agent_facing_northeast.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc8e90dec9de3a96ee6288d793d7714327dab78751fc38710324b9ad5683ce6
+size 351545
diff --git a/2-room/run02/agent_facing_southwest.png b/2-room/run02/agent_facing_southwest.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaf39a1e745040dcd3a8fb6e5777d99492934c12
--- /dev/null
+++ b/2-room/run02/agent_facing_southwest.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38b8868dde352d2c04c01c543594fe63a6f9e5661d8587a4c9fd2dde61384ea5
+size 417207
diff --git a/2-room/run02/agent_seg_debug.png b/2-room/run02/agent_seg_debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e247edbbb36bb844f9d116ba73f78d4c3e92d4e4
--- /dev/null
+++ b/2-room/run02/agent_seg_debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ac67908b05b873af0c821057a59b9a8d62cc134fca298a35228429c0d297ccc
+size 682
diff --git a/2-room/run02/orientation_instruction.png b/2-room/run02/orientation_instruction.png
new file mode 100644
index 0000000000000000000000000000000000000000..e13cb91c8c1449f3b323821fc793589aa1e457e5
--- /dev/null
+++ b/2-room/run02/orientation_instruction.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700ba44d5d929b8fc362223cbaba4a77ce53467154c16b68bd9b25542a7ff3ff
+size 1685012
diff --git a/2-room/run02/top_down_empty.png b/2-room/run02/top_down_empty.png
new file mode 100644
index 0000000000000000000000000000000000000000..1eeb88c9b6b8633643015cc7377eefca1f641f97
--- /dev/null
+++ b/2-room/run02/top_down_empty.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6473ac0dc878ee9ff9bef6eab4538d596badac98e33a2da3b4ba1ed17fd7c8ed
+size 231659