 Pepijn
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e6616456fb
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navigation: port value maps, features, skills, agent + dog-nav CLI
Copied from the dyna360 research stack into lerobot.navigation:
- value_map.py: DynaMem §3.4 exploration scoring (V_T recency + V_S
query-similarity, combined value with distance discount).
- features.py: SiglipFeatureExtractor (MaskCLIP dense patches, lazy
transformers) + FeatureExtractor protocol + BasisVectorFeatureExtractor
stand-in for model-free dry-run/tests.
- skills.py: SpatialSkills locate/goto/explore over the voxel memory +
base controller + text encoder.
- agent.py: DeterministicAgent (locate→goto / explore→relocate policy) +
HardcodedTaskParser (regex NL→Task).
- sim.py: self-contained synthetic scenes (kitchen) + basis-vector text
encoder, replacing the dyna360 eval harness for dry-run.
- dog_cli.py: `dog-nav` interactive REPL — idle→explore, prompt→locate+
goto (explore-to-find on miss), preemptible, Ctrl-C e-stop, --dry-run.
Silenced benign fp16 matmul warnings in query/similarity via np.errstate.
Pure numpy + optional lazy torch/transformers; 67 new tests (116 total in
tests/navigation/), all model/hardware-free. Deliverable runs:
`python -m lerobot.navigation.dog_cli --dry-run`.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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2026-07-20 18:27:07 +02:00 |
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