├── .gitignore ├── LICENSE ├── README.md ├── assets ├── Learned LiDAR Traversability.gif ├── Traversability Mapping.gif ├── Traversability Prediction.gif └── figure1.png ├── height_mapping └── height_mapping_core │ ├── .clang-format │ ├── CMakeLists.txt │ ├── include │ └── height_mapping_core │ │ ├── height_correctors │ │ └── HeightMapRaycaster.h │ │ ├── height_estimators │ │ ├── HeightEstimatorBase.h │ │ ├── KalmanEstimator.h │ │ ├── MovingAverageEstimator.h │ │ └── StatMeanEstimator.h │ │ ├── height_filters │ │ └── FastHeightFilter.h │ │ ├── height_map │ │ ├── HeightMap.h │ │ ├── cloud_types.h │ │ └── layer_definitions.h │ │ ├── height_mapping_core.h │ │ └── helper_functions.h │ ├── package.xml │ └── src │ ├── FastHeightFilter.cpp │ ├── HeightMap.cpp │ ├── KalmanEstimator.cpp │ ├── MovingAverageEstimator.cpp │ └── StatMeanEstimator.cpp ├── lesta_ros ├── .clang-format ├── CMakeLists.txt ├── config │ ├── include │ │ ├── feature_extraction_params.yaml │ │ └── feature_visualization.yaml │ ├── label_generation_node.yaml │ ├── trav_mapping_node.yaml │ └── trav_prediction_node.yaml ├── include │ ├── common │ │ └── ros │ │ │ ├── FrameID.h │ │ │ ├── PointCloudOps.h │ │ │ ├── TransformOps.h │ │ │ └── common.h │ └── lesta │ │ ├── core │ │ ├── FeatureExtractor.h │ │ ├── GlobalMapper.h │ │ ├── HeightMapper.h │ │ ├── LabelGenerator.h │ │ ├── TraversabilityEstimator.h │ │ ├── TraversabilityMapper.h │ │ ├── TraversabilityNetwork.h │ │ └── core.h │ │ ├── ros │ │ ├── config.h │ │ ├── label_generation_node.h │ │ ├── trav_mapping_node.h │ │ └── trav_prediction_node.h │ │ └── types │ │ ├── label_point.h │ │ ├── layer_definitions.h │ │ └── traversability.h ├── launch │ ├── include │ │ ├── label_generation.rviz │ │ ├── traversability_mapping.rviz │ │ └── traversability_prediction.rviz │ ├── label_generation.launch │ ├── traversability_mapping.launch │ └── traversability_prediction.launch ├── package.xml ├── src │ ├── core │ │ ├── FeatureExtractor.cpp │ │ ├── GlobalMapper.cpp │ │ ├── HeightMapper.cpp │ │ ├── LabelGenerator.cpp │ │ ├── TraversabilityEstimator.cpp │ │ ├── TraversabilityMapper.cpp │ │ └── TraversabilityNetwork.cpp │ └── ros │ │ ├── label_generation_node.cpp │ │ ├── trav_mapping_node.cpp │ │ └── trav_prediction_node.cpp └── srv │ └── save_training_data.srv └── pylesta ├── README.md ├── configs └── lesta.yaml ├── lesta ├── api │ ├── checkpoint.py │ ├── dataset.py │ ├── logger.py │ ├── loss.py │ ├── model.py │ └── trainer.py └── core │ ├── datasets │ └── pcd_dataset │ │ ├── __init__.py │ │ ├── base.py │ │ ├── dataset.py │ │ └── risk_weighted_dataset.py │ ├── loss_fns │ ├── __init__.py │ ├── bce_loss.py │ ├── entropy_regularization.py │ ├── instance_weighted_loss.py │ └── risk_sensitive_loss.py │ └── models │ ├── __init__.py │ └── mlp_classifier.py ├── setup.py ├── tools ├── examples │ ├── api │ │ ├── calculate_loss.py │ │ ├── load_dataset.py │ │ └── load_model.py │ └── core │ │ └── load_pcd_dataset.py ├── test.py └── train.py └── utils ├── logger ├── 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