├── .gitattributes ├── .gitignore ├── README.md ├── config ├── experiments │ ├── reality.yaml │ ├── ver_pointnav.yaml │ ├── vlfm_objectnav_hm3d.yaml │ └── vlfm_objectnav_mp3d.yaml ├── openspace │ └── build.py └── tasks │ └── pointnav_depth_hm3d.yaml ├── data ├── pointnav_weights.pth └── spot_pointnav_weights.pth ├── docker └── Dockerfile ├── docs ├── fist_frame.jpeg └── main_table.png ├── fail_case.py ├── habitat_lab └── env_utils.py ├── lockfiles ├── http___ubuntu_12185_gdino.lock ├── http___ubuntu_12189_gdino.lock └── http___ubuntu_12196_yolov7.lock ├── requirements.txt ├── scripts ├── eval_dummy_policy.sh ├── eval_itm_policy.sh ├── eval_oracle_fbe_policy.sh ├── launch_multi_eval.sh ├── launch_vlm_servers.sh └── parse_jsons.py ├── setup.py ├── spl_calculate.py └── vlfm ├── ._.DS_Store ├── RedNet ├── RedNet_model.py └── utils.py ├── __init__.py ├── mapping ├── ._.DS_Store ├── base_map.py ├── frontier_map.py ├── map_utils.py ├── map_utils_semantic.py ├── object_point_cloud_map.py ├── obstacle_map.py ├── obstacle_map_nulti_floor.py ├── openfusion │ ├── datasets.py │ ├── io.py │ ├── matcher.py │ ├── slam.py │ ├── state.py │ ├── utils.py │ └── zoo │ │ ├── base_model.py │ │ └── xdecoder_seem │ │ ├── LICENSE │ │ ├── README.md │ │ ├── checkpoints │ │ ├── Unconfirmed 561519.crdownload │ │ ├── Unconfirmed 885083.crdownload │ │ └── seem_focall_v1.pt │ │ ├── model.py │ │ └── requirements.txt ├── traj_visualizer.py └── value_map.py ├── measurements └── traveled_stairs.py ├── obs_transformers ├── resize.py └── utils.py ├── planner └── SA_inte.py ├── policy ├── __init__.py ├── action_replay_policy.py ├── base_objectnav_policy.py ├── base_policy.py ├── detector_test.py ├── habitat_policies.py ├── itm_policy.py ├── reality_policies.py ├── test.py └── utils │ ├── __init__.py │ ├── acyclic_enforcer.py │ └── pointnav_policy.py ├── run.py ├── utils ├── episode_stats_logger.py ├── generate_dummy_policy.py ├── geometry_utils.py ├── habitat_visualizer.py ├── img_utils.py ├── log_saver.py ├── room_processor.py ├── visualization.py └── vlfm_trainer.py └── vlm ├── __init__.py ├── blip2.py ├── blip2itm.py ├── classes.txt ├── coco_classes.py ├── detections.py ├── fiber.py ├── grounding_dino.py ├── openai_api.py ├── sam.py ├── server_wrapper.py └── yolov7.py /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/.gitattributes -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/README.md -------------------------------------------------------------------------------- /config/experiments/reality.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/config/experiments/reality.yaml -------------------------------------------------------------------------------- /config/experiments/ver_pointnav.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/config/experiments/ver_pointnav.yaml -------------------------------------------------------------------------------- /config/experiments/vlfm_objectnav_hm3d.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/config/experiments/vlfm_objectnav_hm3d.yaml -------------------------------------------------------------------------------- /config/experiments/vlfm_objectnav_mp3d.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/config/experiments/vlfm_objectnav_mp3d.yaml -------------------------------------------------------------------------------- /config/openspace/build.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/config/openspace/build.py -------------------------------------------------------------------------------- /config/tasks/pointnav_depth_hm3d.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/config/tasks/pointnav_depth_hm3d.yaml -------------------------------------------------------------------------------- /data/pointnav_weights.pth: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/data/pointnav_weights.pth -------------------------------------------------------------------------------- /data/spot_pointnav_weights.pth: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/data/spot_pointnav_weights.pth -------------------------------------------------------------------------------- /docker/Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/docker/Dockerfile -------------------------------------------------------------------------------- /docs/fist_frame.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/docs/fist_frame.jpeg -------------------------------------------------------------------------------- /docs/main_table.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/docs/main_table.png -------------------------------------------------------------------------------- /fail_case.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/fail_case.py -------------------------------------------------------------------------------- /habitat_lab/env_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/habitat_lab/env_utils.py -------------------------------------------------------------------------------- /lockfiles/http___ubuntu_12185_gdino.lock: -------------------------------------------------------------------------------- 1 | 22380 -------------------------------------------------------------------------------- /lockfiles/http___ubuntu_12189_gdino.lock: -------------------------------------------------------------------------------- 1 | 713167 -------------------------------------------------------------------------------- /lockfiles/http___ubuntu_12196_yolov7.lock: -------------------------------------------------------------------------------- 1 | 87754 -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/requirements.txt -------------------------------------------------------------------------------- /scripts/eval_dummy_policy.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/scripts/eval_dummy_policy.sh -------------------------------------------------------------------------------- /scripts/eval_itm_policy.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/scripts/eval_itm_policy.sh -------------------------------------------------------------------------------- /scripts/eval_oracle_fbe_policy.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/scripts/eval_oracle_fbe_policy.sh -------------------------------------------------------------------------------- /scripts/launch_multi_eval.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/scripts/launch_multi_eval.sh -------------------------------------------------------------------------------- /scripts/launch_vlm_servers.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/scripts/launch_vlm_servers.sh -------------------------------------------------------------------------------- /scripts/parse_jsons.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/scripts/parse_jsons.py -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/setup.py -------------------------------------------------------------------------------- /spl_calculate.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/spl_calculate.py -------------------------------------------------------------------------------- /vlfm/._.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/._.DS_Store -------------------------------------------------------------------------------- /vlfm/RedNet/RedNet_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/RedNet/RedNet_model.py -------------------------------------------------------------------------------- /vlfm/RedNet/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/RedNet/utils.py -------------------------------------------------------------------------------- /vlfm/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/__init__.py -------------------------------------------------------------------------------- /vlfm/mapping/._.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/._.DS_Store -------------------------------------------------------------------------------- /vlfm/mapping/base_map.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/base_map.py -------------------------------------------------------------------------------- /vlfm/mapping/frontier_map.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/frontier_map.py -------------------------------------------------------------------------------- /vlfm/mapping/map_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/map_utils.py -------------------------------------------------------------------------------- /vlfm/mapping/map_utils_semantic.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/map_utils_semantic.py -------------------------------------------------------------------------------- /vlfm/mapping/object_point_cloud_map.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/object_point_cloud_map.py -------------------------------------------------------------------------------- /vlfm/mapping/obstacle_map.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/obstacle_map.py -------------------------------------------------------------------------------- /vlfm/mapping/obstacle_map_nulti_floor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/obstacle_map_nulti_floor.py -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/datasets.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/openfusion/datasets.py -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/io.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/openfusion/io.py -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/matcher.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/openfusion/matcher.py -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/slam.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/openfusion/slam.py -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/state.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/openfusion/state.py -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/openfusion/utils.py -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/zoo/base_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/openfusion/zoo/base_model.py -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/zoo/xdecoder_seem/LICENSE: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/zoo/xdecoder_seem/README.md: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/zoo/xdecoder_seem/checkpoints/Unconfirmed 561519.crdownload: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/zoo/xdecoder_seem/checkpoints/Unconfirmed 885083.crdownload: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/zoo/xdecoder_seem/checkpoints/seem_focall_v1.pt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/openfusion/zoo/xdecoder_seem/checkpoints/seem_focall_v1.pt -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/zoo/xdecoder_seem/model.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /vlfm/mapping/openfusion/zoo/xdecoder_seem/requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/openfusion/zoo/xdecoder_seem/requirements.txt -------------------------------------------------------------------------------- /vlfm/mapping/traj_visualizer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/traj_visualizer.py -------------------------------------------------------------------------------- /vlfm/mapping/value_map.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/mapping/value_map.py -------------------------------------------------------------------------------- /vlfm/measurements/traveled_stairs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/measurements/traveled_stairs.py -------------------------------------------------------------------------------- /vlfm/obs_transformers/resize.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/obs_transformers/resize.py -------------------------------------------------------------------------------- /vlfm/obs_transformers/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/obs_transformers/utils.py -------------------------------------------------------------------------------- /vlfm/planner/SA_inte.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/planner/SA_inte.py -------------------------------------------------------------------------------- /vlfm/policy/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/__init__.py -------------------------------------------------------------------------------- /vlfm/policy/action_replay_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/action_replay_policy.py -------------------------------------------------------------------------------- /vlfm/policy/base_objectnav_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/base_objectnav_policy.py -------------------------------------------------------------------------------- /vlfm/policy/base_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/base_policy.py -------------------------------------------------------------------------------- /vlfm/policy/detector_test.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/detector_test.py -------------------------------------------------------------------------------- /vlfm/policy/habitat_policies.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/habitat_policies.py -------------------------------------------------------------------------------- /vlfm/policy/itm_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/itm_policy.py -------------------------------------------------------------------------------- /vlfm/policy/reality_policies.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/reality_policies.py -------------------------------------------------------------------------------- /vlfm/policy/test.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/test.py -------------------------------------------------------------------------------- /vlfm/policy/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/utils/__init__.py -------------------------------------------------------------------------------- /vlfm/policy/utils/acyclic_enforcer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/utils/acyclic_enforcer.py -------------------------------------------------------------------------------- /vlfm/policy/utils/pointnav_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/policy/utils/pointnav_policy.py -------------------------------------------------------------------------------- /vlfm/run.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/run.py -------------------------------------------------------------------------------- /vlfm/utils/episode_stats_logger.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/utils/episode_stats_logger.py -------------------------------------------------------------------------------- /vlfm/utils/generate_dummy_policy.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/utils/generate_dummy_policy.py -------------------------------------------------------------------------------- /vlfm/utils/geometry_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/utils/geometry_utils.py -------------------------------------------------------------------------------- /vlfm/utils/habitat_visualizer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/utils/habitat_visualizer.py -------------------------------------------------------------------------------- /vlfm/utils/img_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/utils/img_utils.py -------------------------------------------------------------------------------- /vlfm/utils/log_saver.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/utils/log_saver.py -------------------------------------------------------------------------------- /vlfm/utils/room_processor.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/utils/room_processor.py -------------------------------------------------------------------------------- /vlfm/utils/visualization.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/utils/visualization.py -------------------------------------------------------------------------------- /vlfm/utils/vlfm_trainer.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/utils/vlfm_trainer.py -------------------------------------------------------------------------------- /vlfm/vlm/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/__init__.py -------------------------------------------------------------------------------- /vlfm/vlm/blip2.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/blip2.py -------------------------------------------------------------------------------- /vlfm/vlm/blip2itm.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/blip2itm.py -------------------------------------------------------------------------------- /vlfm/vlm/classes.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/classes.txt -------------------------------------------------------------------------------- /vlfm/vlm/coco_classes.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/coco_classes.py -------------------------------------------------------------------------------- /vlfm/vlm/detections.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/detections.py -------------------------------------------------------------------------------- /vlfm/vlm/fiber.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/fiber.py -------------------------------------------------------------------------------- /vlfm/vlm/grounding_dino.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/grounding_dino.py -------------------------------------------------------------------------------- /vlfm/vlm/openai_api.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/openai_api.py -------------------------------------------------------------------------------- /vlfm/vlm/sam.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/sam.py -------------------------------------------------------------------------------- /vlfm/vlm/server_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/server_wrapper.py -------------------------------------------------------------------------------- /vlfm/vlm/yolov7.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZiboKNOW/BeliefMapNav/HEAD/vlfm/vlm/yolov7.py --------------------------------------------------------------------------------