navigation: LingBot-Map geometry runner, keyframe pipeline, live CLI

- geometry.py: GeometryRunner protocol + GeometryOutput contract
  ({points, local_points, conf, camera_poses}); LingBotMapRunner (lazy
  streaming reconstruction, no window stitching); FakeGeometryRunner for
  tests; umeyama_similarity + align_trajectory_to_odometry to anchor the
  monocular scale to Go2 sport-mode odometry (metric map, real m/s A*).
- pipeline.py: viz-free integrate_keyframe (carve → add) + bilinear
  feature upsampling.
- dog_cli.py: LiveMapper (perceive → geometry → features → integrate one
  keyframe, feed the watchdog) + _build_live wiring the real Unitree Go2
  stack (DDS + LingBot-Map + SigLIP2) + `--live` REPL. Lazy throughout, so
  import/--help/dry-run stay model- and SDK-free.
- dog-nav console entry point; README updated.

14 new tests (130 in tests/navigation/), all model/hardware-free.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

tests/navigation/test_pipeline.py

@@ -0,0 +1,93 @@
+#!/usr/bin/env python
+
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Tests for the viz-free keyframe integration loop.
+
+Uses FakeGeometryRunner output fed through integrate_keyframe into a real
+VoxelMap — no models, no viz.
+"""
+
+from __future__ import annotations
+
+import numpy as np
+
+from lerobot.navigation.geometry import FakeGeometryRunner
+from lerobot.navigation.pipeline import (
+    KeyframeContext,
+    PipelineConfig,
+    integrate_keyframe,
+    upsample_features_to_view,
+)
+from lerobot.navigation.voxel_map import VoxelMap
+
+
+def _ctx_from_geometry(frame_idx=0, t=0.0, feat_map=None) -> KeyframeContext:
+    h = w = 14
+    views = np.full((1, h, w, 3), 120, dtype=np.uint8)
+    out = FakeGeometryRunner(depth=3.0, focal_px=100.0)(views)
+    return KeyframeContext(
+        frame_idx=frame_idx,
+        t_sec=t,
+        rgb_uint8=views[0],
+        points_world=out.points[0],
+        local_points=out.local_points[0],
+        conf=out.conf[0],
+        pose=out.camera_poses[0],
+        feat_map=feat_map,
+    )
+
+
+def test_integrate_adds_voxels():
+    vm = VoxelMap(voxel_size=0.05)
+    ctx = _ctx_from_geometry()
+    carve, stats = integrate_keyframe(vm, ctx, PipelineConfig(focal_px=100.0))
+    assert stats.n_added > 0
+    assert len(vm) == stats.n_voxels
+    assert carve.n_removed == 0  # nothing to carve on an empty map
+
+
+def test_integrate_second_frame_updates_not_duplicates():
+    vm = VoxelMap(voxel_size=0.05)
+    pcfg = PipelineConfig(focal_px=100.0)
+    integrate_keyframe(vm, _ctx_from_geometry(frame_idx=0, t=0.0), pcfg)
+    n_after_first = len(vm)
+    _, stats2 = integrate_keyframe(vm, _ctx_from_geometry(frame_idx=1, t=0.5), pcfg)
+    # Same synthetic view → same voxels updated, not a second copy.
+    assert stats2.n_added == 0
+    assert len(vm) == n_after_first
+
+
+def test_integrate_with_features_enables_query():
+    vm = VoxelMap(voxel_size=0.05)
+    h = w = 14
+    d = 8
+    feat = np.zeros((h, w, d), dtype=np.float16)
+    feat[..., 0] = 1.0  # every pixel carries basis vector 0
+    ctx = _ctx_from_geometry(feat_map=feat)
+    integrate_keyframe(vm, ctx, PipelineConfig(focal_px=100.0))
+    assert vm.feature_dim == d
+    q = np.zeros(d, dtype=np.float32)
+    q[0] = 1.0
+    result = vm.query(q, top_k=5)
+    assert result.score.size > 0
+    assert float(result.score.max()) > 0.9  # basis-0 query matches basis-0 voxels
+
+
+def test_upsample_features_to_view_shape():
+    patch = np.zeros((3, 3, 8), dtype=np.float16)
+    up = upsample_features_to_view(patch, view_h=28, view_w=28)
+    assert up.shape == (28, 28, 8)
+    assert up.dtype == np.float16