├── .github └── workflows │ └── python-package-conda.yml ├── .gitignore ├── LICENSE ├── README.md ├── configs ├── _base_ │ ├── datasets │ │ ├── cwt_group8.py │ │ ├── goose_group6.py │ │ ├── rellis.py │ │ ├── rellis_group4.py │ │ ├── rellis_group6.py │ │ ├── rellis_group6_new.py │ │ ├── rugd.py │ │ ├── rugd_group4.py │ │ ├── rugd_group6.py │ │ ├── rugd_group6_new.py │ │ └── rugd_group6_new2.py │ ├── default_runtime.py │ ├── models │ │ ├── ganav_light_fast_scnn_6.py │ │ ├── ours_att.py │ │ ├── ours_class_att.py │ │ └── ours_class_att_group8.py │ └── schedules │ │ ├── schedule_160k.py │ │ ├── schedule_20k.py │ │ ├── schedule_40k.py │ │ └── schedule_80k.py ├── ours │ ├── ganav_group6_goose.py │ ├── ganav_group6_rellis.py │ ├── ganav_group6_rellis_new.py │ ├── ganav_group6_rugd.py │ ├── ganav_group6_rugd_new2.py │ ├── ganav_group6_rugd_new3.py │ └── ganav_group8_cwt.py └── ours_prev │ ├── ganav_group6_rellis.py │ └── ganav_group6_rugd.py ├── data ├── goose │ ├── .gitignore │ ├── test.txt │ ├── train.txt │ └── val.txt ├── rellis │ ├── test.txt │ ├── train.txt │ └── val.txt └── rugd │ ├── test.txt │ ├── test_ours.txt │ ├── train.txt │ ├── train_ours.txt │ ├── val.txt │ └── val_ours.txt ├── mmseg ├── __init__.py ├── apis │ ├── __init__.py │ ├── inference.py │ ├── test.py │ └── train.py ├── core │ ├── __init__.py │ ├── evaluation │ │ ├── __init__.py │ │ ├── class_names.py │ │ ├── eval_hooks.py │ │ └── metrics.py │ ├── seg │ │ ├── __init__.py │ │ ├── builder.py │ │ └── sampler │ │ │ ├── __init__.py │ │ │ ├── base_pixel_sampler.py │ │ │ └── ohem_pixel_sampler.py │ └── utils │ │ ├── __init__.py │ │ └── misc.py ├── datasets │ ├── __init__.py │ ├── builder.py │ ├── custom.py │ ├── cwt.py │ ├── dataset_wrappers.py │ ├── goose_group6.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── compose.py │ │ ├── formating.py │ │ ├── loading.py │ │ ├── test_time_aug.py │ │ └── transforms.py │ ├── rellis.py │ ├── rellis_group4.py │ ├── rellis_group6.py │ ├── rellis_group6_new.py │ ├── rugd.py │ ├── rugd_group4.py │ ├── rugd_group6.py │ ├── rugd_group6_new.py │ └── rugd_group6_new2.py ├── models │ ├── __init__.py │ ├── backbones │ │ ├── __init__.py │ │ ├── fast_scnn.py │ │ ├── mit.py │ │ ├── resnest.py │ │ ├── resnet.py │ │ ├── resnext.py │ │ └── transnet.py │ ├── builder.py │ ├── decode_heads │ │ ├── __init__.py │ │ ├── decode_head.py │ │ ├── fcn_head.py │ │ ├── ours_head_class_attn.py │ │ ├── psp_head.py │ │ └── transformer.py │ ├── losses │ │ ├── __init__.py │ │ ├── accuracy.py │ │ ├── class_att_cross_entropy_loss.py │ │ ├── cross_entropy_loss.py │ │ ├── dice_loss.py │ │ ├── focal_loss.py │ │ ├── lovasz_loss.py │ │ └── utils.py │ ├── necks │ │ ├── __init__.py │ │ └── fpn.py │ ├── segmentors │ │ ├── __init__.py │ │ ├── base.py │ │ ├── cascade_encoder_decoder.py │ │ ├── encoder_decoder.py │ │ └── encoder_decoder_map.py │ └── utils │ │ ├── __init__.py │ │ ├── embed.py │ │ ├── inverted_residual.py │ │ ├── make_divisible.py │ │ ├── res_layer.py │ │ ├── se_layer.py │ │ ├── self_attention_block.py │ │ ├── shape_convert.py │ │ ├── trans_layer.py │ │ └── up_conv_block.py ├── ops │ ├── __init__.py │ ├── encoding.py │ └── wrappers.py ├── utils │ ├── __init__.py │ ├── collect_env.py │ ├── logger.py │ ├── misc.py │ └── set_env.py └── version.py ├── requirements.txt ├── requirements ├── docs.txt ├── optional.txt ├── readthedocs.txt ├── runtime.txt └── tests.txt ├── resources ├── cover.png └── video.gif ├── ros_support ├── CMakeLists.txt ├── README ├── package.xml └── segmented_navigation.py ├── setup.cfg ├── setup.py ├── tools ├── analyze_logs.py ├── benchmark.py ├── browse_dataset.py ├── convert_datasets │ ├── goose_relabel6.py │ ├── rellis_relabel4.py │ ├── rellis_relabel6.py │ ├── rellis_relabel6_new.py │ ├── rugd_relabel4.py │ ├── rugd_relabel6.py │ ├── rugd_relabel6_new.py │ └── rugd_relabel6_new2.py ├── deploy_test.py ├── dist_test.sh ├── dist_train.sh ├── get_flops.py ├── model_converters │ ├── mit2mmseg.py │ ├── stdc2mmseg.py │ ├── swin2mmseg.py │ ├── twins2mmseg.py │ ├── vit2mmseg.py │ └── vitjax2mmseg.py ├── onnx2tensorrt.py ├── print_config.py ├── process_rellis.py ├── publish_model.py ├── pytorch2onnx.py ├── pytorch2torchscript.py ├── slurm_test.sh ├── slurm_train.sh ├── test.py ├── torchserve │ ├── mmseg2torchserve.py │ ├── mmseg_handler.py │ └── test_torchserve.py ├── train.py └── visualize.py └── trained_models ├── legacy ├── rellis_group4 │ └── ganav_rellis.py ├── rellis_group6 │ └── ganav_rellis.py ├── rugd_group4 │ └── ganav_rugd.py └── rugd_group6 │ └── ganav_rugd.py ├── rellis_group6 └── ganav_rellis_6.py └── rugd_group6 └── ganav_rugd_6.py /.github/workflows/python-package-conda.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rayguan97/GANav-offroad/HEAD/.github/workflows/python-package-conda.yml -------------------------------------------------------------------------------- /.gitignore: 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