├── .gitignore ├── LICENSE ├── README.md ├── assets └── pipeline.png ├── deployment ├── config │ ├── camera_front.yaml │ ├── camera_reverse.yaml │ ├── cmd_vel_mux.yaml │ ├── joystick.yaml │ ├── models.yaml │ ├── params.yaml │ └── robot.yaml ├── deployment_environment.yaml └── src │ ├── cost_to_pcd.py │ ├── costmap_cfg.py │ ├── create_topomap.py │ ├── create_topomap.sh │ ├── deployment_environment.yml │ ├── guide.py │ ├── joy_teleop.py │ ├── joy_teleop.sh │ ├── navigate.py │ ├── navigate.sh │ ├── pd_controller.py │ ├── record_bag.sh │ ├── ros_data.py │ ├── topic_names.py │ ├── tsdf_cost_map.py │ ├── utils.py │ └── vint_locobot.launch └── train ├── config ├── defaults.yaml └── nomad.yaml ├── data_split.py ├── process_bag_diff.py ├── process_bags.py ├── process_recon.py ├── setup.py ├── train.py ├── train_environment.yml └── vint_train ├── __init__.py ├── data ├── __init__.py ├── data_config.yaml ├── data_utils.py └── vint_dataset.py ├── models ├── __init__.py ├── base_model.py └── nomad │ ├── README.md │ ├── __init__.py │ ├── nomad.py │ ├── nomad_vint.py │ └── vib_placeholder.py ├── process_data ├── __init__.py ├── process_bags_config.yaml └── process_data_utils.py ├── training ├── __init__.py ├── logger.py ├── train_eval_loop.py └── train_utils.py └── visualizing ├── __init__.py ├── action_utils.py ├── distance_utils.py └── visualize_utils.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/README.md -------------------------------------------------------------------------------- /assets/pipeline.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/assets/pipeline.png -------------------------------------------------------------------------------- /deployment/config/camera_front.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/config/camera_front.yaml -------------------------------------------------------------------------------- /deployment/config/camera_reverse.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/config/camera_reverse.yaml -------------------------------------------------------------------------------- /deployment/config/cmd_vel_mux.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/config/cmd_vel_mux.yaml -------------------------------------------------------------------------------- /deployment/config/joystick.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/config/joystick.yaml -------------------------------------------------------------------------------- /deployment/config/models.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/config/models.yaml -------------------------------------------------------------------------------- /deployment/config/params.yaml: -------------------------------------------------------------------------------- 1 | image_path: "../topomaps/images/" 2 | -------------------------------------------------------------------------------- /deployment/config/robot.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/config/robot.yaml -------------------------------------------------------------------------------- /deployment/deployment_environment.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/deployment_environment.yaml -------------------------------------------------------------------------------- /deployment/src/cost_to_pcd.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/cost_to_pcd.py -------------------------------------------------------------------------------- /deployment/src/costmap_cfg.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/costmap_cfg.py -------------------------------------------------------------------------------- /deployment/src/create_topomap.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/create_topomap.py -------------------------------------------------------------------------------- /deployment/src/create_topomap.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/create_topomap.sh -------------------------------------------------------------------------------- /deployment/src/deployment_environment.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/deployment_environment.yml -------------------------------------------------------------------------------- /deployment/src/guide.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/guide.py -------------------------------------------------------------------------------- /deployment/src/joy_teleop.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/joy_teleop.py -------------------------------------------------------------------------------- /deployment/src/joy_teleop.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/joy_teleop.sh -------------------------------------------------------------------------------- /deployment/src/navigate.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/navigate.py -------------------------------------------------------------------------------- /deployment/src/navigate.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/navigate.sh -------------------------------------------------------------------------------- /deployment/src/pd_controller.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/pd_controller.py -------------------------------------------------------------------------------- /deployment/src/record_bag.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/record_bag.sh -------------------------------------------------------------------------------- /deployment/src/ros_data.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/ros_data.py -------------------------------------------------------------------------------- /deployment/src/topic_names.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/topic_names.py -------------------------------------------------------------------------------- /deployment/src/tsdf_cost_map.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/tsdf_cost_map.py -------------------------------------------------------------------------------- /deployment/src/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/utils.py -------------------------------------------------------------------------------- /deployment/src/vint_locobot.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/deployment/src/vint_locobot.launch -------------------------------------------------------------------------------- /train/config/defaults.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/config/defaults.yaml -------------------------------------------------------------------------------- /train/config/nomad.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/config/nomad.yaml -------------------------------------------------------------------------------- /train/data_split.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/data_split.py -------------------------------------------------------------------------------- /train/process_bag_diff.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/process_bag_diff.py -------------------------------------------------------------------------------- /train/process_bags.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/process_bags.py -------------------------------------------------------------------------------- /train/process_recon.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/process_recon.py -------------------------------------------------------------------------------- /train/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/setup.py -------------------------------------------------------------------------------- /train/train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/train.py -------------------------------------------------------------------------------- /train/train_environment.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/train_environment.yml -------------------------------------------------------------------------------- /train/vint_train/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /train/vint_train/data/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /train/vint_train/data/data_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/data/data_config.yaml -------------------------------------------------------------------------------- /train/vint_train/data/data_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/data/data_utils.py -------------------------------------------------------------------------------- /train/vint_train/data/vint_dataset.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/data/vint_dataset.py -------------------------------------------------------------------------------- /train/vint_train/models/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /train/vint_train/models/base_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/models/base_model.py -------------------------------------------------------------------------------- /train/vint_train/models/nomad/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/models/nomad/README.md -------------------------------------------------------------------------------- /train/vint_train/models/nomad/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /train/vint_train/models/nomad/nomad.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/models/nomad/nomad.py -------------------------------------------------------------------------------- /train/vint_train/models/nomad/nomad_vint.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/models/nomad/nomad_vint.py -------------------------------------------------------------------------------- /train/vint_train/models/nomad/vib_placeholder.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /train/vint_train/process_data/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /train/vint_train/process_data/process_bags_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/process_data/process_bags_config.yaml -------------------------------------------------------------------------------- /train/vint_train/process_data/process_data_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/process_data/process_data_utils.py -------------------------------------------------------------------------------- /train/vint_train/training/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /train/vint_train/training/logger.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/training/logger.py -------------------------------------------------------------------------------- /train/vint_train/training/train_eval_loop.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/training/train_eval_loop.py -------------------------------------------------------------------------------- /train/vint_train/training/train_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/training/train_utils.py -------------------------------------------------------------------------------- /train/vint_train/visualizing/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /train/vint_train/visualizing/action_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/visualizing/action_utils.py -------------------------------------------------------------------------------- /train/vint_train/visualizing/distance_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/visualizing/distance_utils.py -------------------------------------------------------------------------------- /train/vint_train/visualizing/visualize_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SYSU-RoboticsLab/NaviD/HEAD/train/vint_train/visualizing/visualize_utils.py --------------------------------------------------------------------------------