Pepijn 8793d1a4d5 navigation: port voxel map + occupancy/A* mapping backbone ...

Copied from the dyna360 research stack into lerobot.navigation:

- voxel_map.py: sparse-hash VoxelMap (5 cm default), count-weighted
  running-mean geometry + optional per-voxel semantic feature; carve()
  for DynaMem-style free-space removal (dynamic updates), query() for
  top-k cosine text matches, remove_voxels_in_box() for scene mutation.
  Added an inverse.reshape(-1) guard for numpy 2.x's np.unique.
- occupancy.py: derived 3-class top-down grid (UNOBSERVED/NAVIGABLE/
  OBSTACLE) projected from the voxel map, A* with no corner-cutting,
  obstacle inflation, and frontier extraction for exploration. Added
  OccupancyGrid.is_obstacle() used by SafeBaseController's occupancy gate.

Pure numpy, no torch/hardware/SDK. 42 new tests (71 total in
tests/navigation/). Next: LingBot-Map geometry runner + integration.

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

2026-07-20 18:05:15 +02:00

..

test_base_controller.py

Add Unitree Go2 robot + spatial-memory navigation base

2026-07-20 17:50:44 +02:00

test_occupancy.py

navigation: port voxel map + occupancy/A* mapping backbone

2026-07-20 18:05:15 +02:00

test_voxel_map_carve.py

navigation: port voxel map + occupancy/A* mapping backbone

2026-07-20 18:05:15 +02:00

test_voxel_map_mutation.py

navigation: port voxel map + occupancy/A* mapping backbone

2026-07-20 18:05:15 +02:00

test_voxel_map.py

navigation: port voxel map + occupancy/A* mapping backbone

2026-07-20 18:05:15 +02:00