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ORCIDGarrett Warnell
Garrett A. Warnell
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- affiliation: U.S. Army Research Laboratory, Adelphi, MD, USA
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2020 – today
- 2023
[j22]Xuesu Xiao
, Zifan Xu, Garrett Warnell, Peter Stone, Ferran Gebelli Guinjoan, Rômulo T. Rodrigues, Herman Bruyninckx, Hanjaya Mandala, Guilherme Christmann, José Luis Blanco-Claraco, Shravan Somashekara Rai:
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons Learned From the Second BARN Challenge at ICRA 2023 [Competitions]. IEEE Robotics Autom. Mag. 30(4): 91-97 (2023)- [c33]Caroline Wang, Garrett Warnell, Peter Stone:
D-Shape: Demonstration-Shaped Reinforcement Learning via Goal-Conditioning. AAMAS 2023: 1267-1275 - [c32]Haresh Karnan, Elvin Yang, Daniel Farkash, Garrett Warnell, Joydeep Biswas, Peter Stone:
STERLING: Self-Supervised Terrain Representation Learning from Unconstrained Robot Experience. CoRL 2023: 2393-2413 - [c31]Jin Soo Park, Xuesu Xiao, Garrett Warnell, Harel Yedidsion, Peter Stone:
Learning Perceptual Hallucination for Multi-Robot Navigation in Narrow Hallways. ICRA 2023: 10033-10039 - [i42]Xuesu Xiao, Zifan Xu, Garrett Warnell, Peter Stone, Ferran Gebelli Guinjoan, Rômulo T. Rodrigues, Herman Bruyninckx, Hanjaya Mandala, Guilherme Christmann, José Luis Blanco-Claraco, Shravan Somashekara Rai:
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023. CoRR abs/2308.03205 (2023) - [i41]Haresh Karnan, Elvin Yang, Garrett Warnell, Joydeep Biswas, Peter Stone:
Wait, That Feels Familiar: Learning to Extrapolate Human Preferences for Preference Aligned Path Planning. CoRR abs/2309.09912 (2023) - [i40]Haresh Karnan, Elvin Yang, Daniel Farkash, Garrett Warnell, Joydeep Biswas, Peter Stone:
Self-Supervised Terrain Representation Learning from Unconstrained Robot Experience. CoRR abs/2309.15302 (2023) - 2022
- [j21]Xuesu Xiao, Bo Liu, Garrett Warnell, Peter Stone:
Motion planning and control for mobile robot navigation using machine learning: a survey. Auton. Robots 46(5): 569-597 (2022) - [j20]Yunshu Du, Garrett Warnell, Assefaw H. Gebremedhin, Peter Stone, Matthew E. Taylor:
Lucid dreaming for experience replay: refreshing past states with the current policy. Neural Comput. Appl. 34(3): 1687-1712 (2022) - [j19]Haresh Karnan, Anirudh Nair, Xuesu Xiao, Garrett Warnell, Sören Pirk, Alexander Toshev, Justin W. Hart, Joydeep Biswas, Peter Stone:
Socially CompliAnt Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigation. IEEE Robotics Autom. Lett. 7(4): 11807-11814 (2022) - [j18]Xuesu Xiao, Zifan Xu, Zizhao Wang, Yunlong Song, Garrett Warnell, Peter Stone, Tingnan Zhang, Shravan Ravi, Gary Wang, Haresh Karnan, Joydeep Biswas, Nicholas Mohammad, Lauren Bramblett, Rahul Peddi, Nicola Bezzo, Zhanteng Xie, Philip M. Dames:
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons Learned From the Benchmark Autonomous Robot Navigation Challenge at ICRA 2022 [Competitions]. IEEE Robotics Autom. Mag. 29(4): 148-156 (2022) - [j17]Xuesu Xiao, Zizhao Wang, Zifan Xu, Bo Liu, Garrett Warnell, Gauraang Dhamankar, Anirudh Nair, Peter Stone:
APPL: Adaptive Planner Parameter Learning. Robotics Auton. Syst. 154: 104132 (2022) - [j16]Brian Cesar-Tondreau, Garrett Warnell, Kevin Kochersberger, Nicholas R. Waytowich:
Towards Fully Autonomous Negative Obstacle Traversal via Imitation Learning Based Control. Robotics 11(4): 67 (2022) - [c30]Haresh Karnan, Faraz Torabi, Garrett Warnell, Peter Stone:
Adversarial Imitation Learning from Video Using a State Observer. ICRA 2022: 2452-2458 - [c29]Eddy Hudson, Garrett Warnell, Faraz Torabi, Peter Stone:
Skeletal Feature Compensation for Imitation Learning with Embodiment Mismatch. ICRA 2022: 2482-2488 - [c28]Haresh Karnan, Garrett Warnell, Xuesu Xiao, Peter Stone:
VOILA: Visual-Observation-Only Imitation Learning for Autonomous Navigation. ICRA 2022: 2497-2503 - [c27]Kavan Singh Sikand, Sadegh Rabiee, Adam Uccello, Xuesu Xiao, Garrett Warnell, Joydeep Biswas:
Visual Representation Learning for Preference-Aware Path Planning. ICRA 2022: 11303-11309 - [c26]Haresh Karnan, Kavan Singh Sikand, Pranav Atreya, Sadegh Rabiee, Xuesu Xiao, Garrett Warnell, Peter Stone, Joydeep Biswas:
VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics. IROS 2022: 3294-3301 - [i39]Haresh Karnan, Garrett Warnell, Faraz Torabi, Peter Stone:
Adversarial Imitation Learning from Video using a State Observer. CoRR abs/2202.00243 (2022) - [i38]Haresh Karnan, Anirudh Nair, Xuesu Xiao, Garrett Warnell, Sören Pirk, Alexander Toshev, Justin W. Hart, Joydeep Biswas, Peter Stone:
Socially Compliant Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigation. CoRR abs/2203.15041 (2022) - [i37]Haresh Karnan, Kavan Singh Sikand, Pranav Atreya, Sadegh Rabiee, Xuesu Xiao, Garrett Warnell, Peter Stone, Joydeep Biswas:
VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics. CoRR abs/2203.15983 (2022) - [i36]Pranav Atreya, Haresh Karnan, Kavan Singh Sikand, Xuesu Xiao, Garrett Warnell, Sadegh Rabiee, Peter Stone, Joydeep Biswas:
High-Speed Accurate Robot Control using Learned Forward Kinodynamics and Non-linear Least Squares Optimization. CoRR abs/2206.08487 (2022) - [i35]Xuesu Xiao, Zifan Xu, Zizhao Wang, Yunlong Song, Garrett Warnell, Peter Stone, Tingnan Zhang, Shravan Ravi, Gary Wang, Haresh Karnan, Joydeep Biswas, Nicholas Mohammad, Lauren Bramblett, Rahul Peddi, Nicola Bezzo, Zhanteng Xie, Philip M. Dames:
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The BARN Challenge at ICRA 2022. CoRR abs/2208.10473 (2022) - [i34]Jin Soo Park, Xuesu Xiao, Garrett Warnell, Harel Yedidsion, Peter Stone:
Learning Perceptual Hallucination for Multi-Robot Navigation in Narrow Hallways. CoRR abs/2209.13641 (2022) - [i33]Caroline Wang, Garrett Warnell, Peter Stone:
D-Shape: Demonstration-Shaped Reinforcement Learning via Goal Conditioning. CoRR abs/2210.14428 (2022) - [i32]Eddy Hudson, Ishan Durugkar, Garrett Warnell, Peter Stone:
ABC: Adversarial Behavioral Cloning for Offline Mode-Seeking Imitation Learning. CoRR abs/2211.04005 (2022) - 2021
- [j15]Ruohan Zhang, Faraz Torabi, Garrett Warnell, Peter Stone:
Recent advances in leveraging human guidance for sequential decision-making tasks. Auton. Agents Multi Agent Syst. 35(2): 31 (2021) - [j14]Brian Cesar-Tondreau, Garrett Warnell, Ethan Stump, Kevin Kochersberger, Nicholas R. Waytowich:
Improving Autonomous Robotic Navigation Using Imitation Learning. Frontiers Robotics AI 8: 627730 (2021) - [j13]Josiah P. Hanna, Siddharth Desai, Haresh Karnan, Garrett Warnell, Peter Stone:
Grounded action transformation for sim-to-real reinforcement learning. Mach. Learn. 110(9): 2469-2499 (2021) - [j12]Xuesu Xiao, Bo Liu, Garrett Warnell, Peter Stone:
Toward Agile Maneuvers in Highly Constrained Spaces: Learning From Hallucination. IEEE Robotics Autom. Lett. 6(2): 1503-1510 (2021) - [j11]Zizhao Wang, Xuesu Xiao, Garrett Warnell, Peter Stone:
APPLE: Adaptive Planner Parameter Learning From Evaluative Feedback. IEEE Robotics Autom. Lett. 6(4): 7744-7749 (2021) - [j10]Alec Koppel, Garrett Warnell, Ethan Stump, Peter Stone, Alejandro Ribeiro:
Policy Evaluation in Continuous MDPs With Efficient Kernelized Gradient Temporal Difference. IEEE Trans. Autom. Control. 66(4): 1856-1863 (2021) - [c25]Yu-Sian Jiang, Garrett Warnell, Peter Stone:
Goal Blending for Responsive Shared Autonomy in a Navigating Vehicle. AAAI 2021: 5939-5947 - [c24]Zizhao Wang, Xuesu Xiao, Bo Liu, Garrett Warnell, Peter Stone:
APPLI: Adaptive Planner Parameter Learning From Interventions. ICRA 2021: 6079-6085 - [c23]Zifan Xu, Gauraang Dhamankar, Anirudh Nair, Xuesu Xiao, Garrett Warnell, Bo Liu, Zizhao Wang, Peter Stone:
APPLR: Adaptive Planner Parameter Learning from Reinforcement. ICRA 2021: 6086-6092 - [c22]Faraz Torabi, Garrett Warnell, Peter Stone:
DEALIO: Data-Efficient Adversarial Learning for Imitation from Observation. IROS 2021: 2391-2397 - [c21]Jason M. Gregory, Garrett Warnell, Jonathan Fink, Satyandra K. Gupta:
Improving Trajectory Tracking Accuracy for Faster and Safer Autonomous Navigation of Ground Vehicles in Off-Road Settings. SSRR 2021: 204-209 - [c20]Zifan Xu, Xuesu Xiao, Garrett Warnell, Anirudh Nair, Peter Stone:
Machine Learning Methods for Local Motion Planning: A Study of End-to-End vs. Parameter Learning. SSRR 2021: 217-222 - [i31]Faraz Torabi, Garrett Warnell, Peter Stone:
DEALIO: Data-Efficient Adversarial Learning for Imitation from Observation. CoRR abs/2104.00163 (2021) - [i30]Eddy Hudson, Garrett Warnell, Faraz Torabi, Peter Stone:
Skeletal Feature Compensation for Imitation Learning with Embodiment Mismatch. CoRR abs/2104.07810 (2021) - [i29]Eddy Hudson, Garrett Warnell, Peter Stone:
RAIL: A modular framework for Reinforcement-learning-based Adversarial Imitation Learning. CoRR abs/2105.03756 (2021) - [i28]Xuesu Xiao, Zizhao Wang, Zifan Xu, Bo Liu, Garrett Warnell, Gauraang Dhamankar, Anirudh Nair, Peter Stone:
APPL: Adaptive Planner Parameter Learning. CoRR abs/2105.07620 (2021) - [i27]Haresh Karnan, Garrett Warnell, Xuesu Xiao, Peter Stone:
VOILA: Visual-Observation-Only Imitation Learning for Autonomous Navigation. CoRR abs/2105.09371 (2021) - [i26]Ruohan Zhang, Faraz Torabi, Garrett Warnell, Peter Stone:
Recent Advances in Leveraging Human Guidance for Sequential Decision-Making Tasks. CoRR abs/2107.05825 (2021) - [i25]Zizhao Wang, Xuesu Xiao, Garrett Warnell, Peter Stone:
APPLE: Adaptive Planner Parameter Learning from Evaluative Feedback. CoRR abs/2108.09801 (2021) - [i24]Kavan Singh Sikand, Sadegh Rabiee, Adam Uccello, Xuesu Xiao, Garrett Warnell, Joydeep Biswas:
Visual Representation Learning for Preference-Aware Path Planning. CoRR abs/2109.08968 (2021) - 2020
- [j9]Felipe Leno da Silva, Garrett Warnell, Anna Helena Reali Costa, Peter Stone:
Agents teaching agents: a survey on inter-agent transfer learning. Auton. Agents Multi Agent Syst. 34(1): 9 (2020) - [j8]Xuesu Xiao, Bo Liu, Garrett Warnell, Jonathan Fink, Peter Stone:
APPLD: Adaptive Planner Parameter Learning From Demonstration. IEEE Robotics Autom. Lett. 5(3): 4541-4547 (2020) - [j7]Brahma S. Pavse, Faraz Torabi, Josiah Hanna, Garrett Warnell, Peter Stone:
RIDM: Reinforced Inverse Dynamics Modeling for Learning from a Single Observed Demonstration. IEEE Robotics Autom. Lett. 5(4): 6262-6269 (2020) - [c19]Felipe Leno da Silva, Garrett Warnell, Anna Helena Reali Costa, Peter Stone:
Agents Teaching Agents: A Survey on Inter-agent Transfer Learning. AAMAS 2020: 2165-2167 - [c18]Jin Soo Park, Brian Tsang, Harel Yedidsion, Garrett Warnell, Daehyun Kyoung, Peter Stone:
Learning to Improve Multi-Robot Hallway Navigation. CoRL 2020: 1883-1895 - [c17]Haresh Karnan, Siddharth Desai, Josiah P. Hanna, Garrett Warnell, Peter Stone:
Reinforced Grounded Action Transformation for Sim-to-Real Transfer. IROS 2020: 4397-4402 - [c16]Siddharth Desai, Haresh Karnan, Josiah P. Hanna, Garrett Warnell, Peter Stone:
Stochastic Grounded Action Transformation for Robot Learning in Simulation. IROS 2020: 6106-6111 - [c15]Siddharth Desai, Ishan Durugkar, Haresh Karnan, Garrett Warnell, Josiah Hanna, Peter Stone:
An Imitation from Observation Approach to Transfer Learning with Dynamics Mismatch. NeurIPS 2020 - [i23]Xuesu Xiao, Bo Liu, Garrett Warnell, Jonathan Fink, Peter Stone:
APPLD: Adaptive Planner Parameter Learning from Demonstration. CoRR abs/2004.00116 (2020) - [i22]Xuesu Xiao, Bo Liu, Garrett Warnell, Peter Stone:
Toward Agile Maneuvers in Highly Constrained Spaces: Learning from Hallucination. CoRR abs/2007.14479 (2020) - [i21]Haresh Karnan, Siddharth Desai, Josiah P. Hanna, Garrett Warnell, Peter Stone:
Reinforced Grounded Action Transformation for Sim-to-Real Transfer. CoRR abs/2008.01279 (2020) - [i20]Siddharth Desai, Haresh Karnan, Josiah P. Hanna, Garrett Warnell, Peter Stone:
Stochastic Grounded Action Transformation for Robot Learning in Simulation. CoRR abs/2008.01281 (2020) - [i19]Siddharth Desai, Ishan Durugkar, Haresh Karnan, Garrett Warnell, Josiah Hanna, Peter Stone:
An Imitation from Observation Approach to Sim-to-Real Transfer. CoRR abs/2008.01594 (2020) - [i18]Yunshu Du, Garrett Warnell, Assefaw Hadish Gebremedhin, Peter Stone, Matthew E. Taylor:
Lucid Dreaming for Experience Replay: Refreshing Past States with the Current Policy. CoRR abs/2009.13736 (2020) - [i17]Zifan Xu, Gauraang Dhamankar, Anirudh Nair, Xuesu Xiao, Garrett Warnell, Bo Liu, Zizhao Wang, Peter Stone:
APPLR: Adaptive Planner Parameter Learning from Reinforcement. CoRR abs/2011.00397 (2020) - [i16]Zizhao Wang, Xuesu Xiao, Bo Liu, Garrett Warnell, Peter Stone:
APPLI: Adaptive Planner Parameter Learning From Interventions. CoRR abs/2011.00400 (2020) - [i15]Xuesu Xiao, Bo Liu, Garrett Warnell, Peter Stone:
Motion Control for Mobile Robot Navigation Using Machine Learning: a Survey. CoRR abs/2011.13112 (2020)
2010 – 2019
- 2019
- [j6]Alec Koppel, Garrett Warnell, Ethan Stump, Alejandro Ribeiro:
Parsimonious Online Learning with Kernels via Sparse Projections in Function Space. J. Mach. Learn. Res. 20: 3:1-3:44 (2019) - [j5]Liangzhe Yuan, Christopher M. Reardon, Garrett Warnell, Giuseppe Loianno:
Human Gaze-Driven Spatial Tasking of an Autonomous MAV. IEEE Robotics Autom. Lett. 4(2): 1343-1350 (2019) - [c14]Faraz Torabi, Garrett Warnell, Peter Stone:
Adversarial Imitation Learning from State-only Demonstrations. AAMAS 2019: 2229-2231 - [c13]Faraz Torabi, Garrett Warnell, Peter Stone:
Imitation Learning from Video by Leveraging Proprioception. IJCAI 2019: 3585-3591 - [c12]Faraz Torabi, Garrett Warnell, Peter Stone:
Recent Advances in Imitation Learning from Observation. IJCAI 2019: 6325-6331 - [i14]Faraz Torabi, Garrett Warnell, Peter Stone:
Imitation Learning from Video by Leveraging Proprioception. CoRR abs/1905.09335 (2019) - [i13]Faraz Torabi, Garrett Warnell, Peter Stone:
Recent Advances in Imitation Learning from Observation. CoRR abs/1905.13566 (2019) - [i12]Nicholas R. Waytowich, Sean L. Barton, Vernon Lawhern, Ethan Stump, Garrett Warnell:
Grounding Natural Language Commands to StarCraft II Game States for Narration-Guided Reinforcement Learning. CoRR abs/1906.02671 (2019) - [i11]Brahma S. Pavse, Faraz Torabi, Josiah P. Hanna, Garrett Warnell, Peter Stone:
RIDM: Reinforced Inverse Dynamics Modeling for Learning from a Single Observed Demonstration. CoRR abs/1906.07372 (2019) - [i10]Faraz Torabi, Sean Geiger, Garrett Warnell, Peter Stone:
Sample-efficient Adversarial Imitation Learning from Observation. CoRR abs/1906.07374 (2019) - [i9]Nicholas R. Waytowich, Sean L. Barton, Vernon Lawhern, Garrett Warnell:
A Narration-based Reward Shaping Approach using Grounded Natural Language Commands. CoRR abs/1911.00497 (2019) - 2018
- [c11]Yu-Sian Jiang, Garrett Warnell, Peter Stone:
DIPD: Gaze-Based Intention Inference in Dynamic Environments. AAAI Workshops 2018: 614-621 - [c10]Garrett Warnell, Nicholas R. Waytowich, Vernon Lawhern, Peter Stone:
Deep TAMER: Interactive Agent Shaping in High-Dimensional State Spaces. AAAI 2018: 1545-1554 - [c9]Yu-Sian Jiang, Garrett Warnell, Peter Stone:
Inferring User Intention using Gaze in Vehicles. ICMI 2018: 298-306 - [c8]Faraz Torabi, Garrett Warnell, Peter Stone:
Behavioral Cloning from Observation. IJCAI 2018: 4950-4957 - [c7]Yu-Sian Jiang, Garrett Warnell, Eduardo Munera, Peter Stone:
A Study of Human-Robot Copilot Systems for En-route Destination Changing. RO-MAN 2018: 997-1004 - [i8]Faraz Torabi, Garrett Warnell, Peter Stone:
Behavioral Cloning from Observation. CoRR abs/1805.01954 (2018) - [i7]Faraz Torabi, Garrett Warnell, Peter Stone:
Generative Adversarial Imitation from Observation. CoRR abs/1807.06158 (2018) - [i6]Prabhat Nagarajan, Garrett Warnell, Peter Stone:
Deterministic Implementations for Reproducibility in Deep Reinforcement Learning. CoRR abs/1809.05676 (2018) - 2017
- [j4]Alec Koppel, Garrett Warnell, Ethan Stump, Alejandro Ribeiro:
D4L: Decentralized Dynamic Discriminative Dictionary Learning. IEEE Trans. Signal Inf. Process. over Networks 3(4): 728-743 (2017) - [c6]Alec Koppel, Garrett Warnell, Ethan Stump, Alejandro Ribeiro:
Parsimonious Online Learning with Kernels via sparse projections in function space. ICASSP 2017: 4671-4675 - [i5]Garrett Warnell, Nicholas R. Waytowich, Vernon Lawhern, Peter Stone:
Deep TAMER: Interactive Agent Shaping in High-Dimensional State Spaces. CoRR abs/1709.10163 (2017) - 2016
- [j3]Garrett A. Warnell, Philip David, Rama Chellappa:
Ray Saliency: Bottom-Up Visual Saliency for a Rotating and Zooming Camera. Int. J. Comput. Vis. 116(2): 174-189 (2016) - [c5]Alec Koppel, Jonathan Fink, Garrett Warnell, Ethan Stump, Alejandro Ribeiro:
Online learning for characterizing unknown environments in ground robotic vehicle models. IROS 2016: 626-633 - [i4]Alec Koppel, Garrett Warnell, Ethan Stump, Alejandro Ribeiro:
Decentralized Dynamic Discriminative Dictionary Learning. CoRR abs/1605.01107 (2016) - [i3]Gordon A. Christie, Garrett Warnell, Kevin Kochersberger:
Semantics for UGV Registration in GPS-denied Environments. CoRR abs/1609.04794 (2016) - [i2]Alec Koppel, Garrett Warnell, Ethan Stump, Alejandro Ribeiro:
Parsimonious Online Learning with Kernels via Sparse Projections in Function Space. CoRR abs/1612.04111 (2016) - 2015
- [j2]Garrett A. Warnell, Sourabh Bhattacharya, Rama Chellappa, Tamer Basar:
Adaptive-Rate Compressive Sensing Using Side Information. IEEE Trans. Image Process. 24(11): 3846-3857 (2015) - [c4]Garrett A. Warnell, Vishal M. Patel, Rama Chellappa:
Integrability-regularized phase unwrapping via sparse error correction. ICIP 2015: 4887-4891 - [c3]Alec Koppel, Garrett Warnell, Ethan Stump, Alejandro Ribeiro:
D4L: Decentralized dynamic discriminative dictionary learning. IROS 2015: 2966-2973 - 2014
- [b1]Garrett Warnell:
Adaptive Sensing and Processing for Some Computer Vision Problems. University of Maryland, College Park, MD, USA, 2014 - [c2]Sourabh Bhattacharya, Garrett A. Warnell, Rama Chellappa, Tamer Basar:
Vision-guided feedback control of a mobile robot with compressive measurements and side information. ACC 2014: 97-102 - [i1]Garrett A. Warnell, Sourabh Bhattacharya, Rama Chellappa, Tamer Basar:
Adaptive-Rate Compressive Sensing Using Side Information. CoRR abs/1401.0583 (2014) - 2012
- [c1]Garrett A. Warnell, Dikpal Reddy, Rama Chellappa:
Adaptive rate compressive sensing for background subtraction. ICASSP 2012: 1477-1480
2000 – 2009
- 2009
- [j1]Daniel Rairigh, Garrett A. Warnell, Chao Xu, Edward T. Zellers, Andrew J. Mason:
CMOS Baseline Tracking and Cancellation Instrumentation for Nanoparticle-Coated Chemiresistors. IEEE Trans. Biomed. Circuits Syst. 3(5): 267-276 (2009)
Coauthor Index
[j22] [c33] [c32] [c31] [i42] [i41] [i40] [j21] [j20] [j19] [j18] [j17] [c30] [c29] [c28] [c26] [i39] [i38] [i37] [i36] [i35] [i34] [i33] [i32] [j15] [j13] [j12] [j11] [j10] [c25] [c24] [c23] [c22] [c20] [i31] [i30] [i29] [i28] [i27] [i26] [i25] [j9] [j8] [j7] [c19] [c18] [c17] [c16] [c15] [i23] [i22] [i21] [i20] [i19] [i18] [i17] [i16] [i15] [c14] [c13] [c12] [i14] [i13] [i11] [i10] [c11] [c10] [c9] [c8] [c7] [i8] [i7] [i6] [i5]
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