Pepijn e6616456fb 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>

2026-07-20 18:27:07 +02:00

..

annotations

feat(annotate): improve VLM subtask annotation (legible contact sheets, seeded relabeling, self-hosted vLLM recipe) (#3896)

2026-07-15 11:38:49 +02:00

artifacts

feat(encoding parameters): adding support for user provided video encoding parameters (#3455)

2026-05-14 23:46:42 +02:00

async_inference

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

cameras

test(cameras): skip flaky async_read test (#3106)

2026-03-08 14:02:33 +01:00

configs

feat(train): run training remotely on HF Jobs via --job.target (#3856)

2026-06-29 17:59:33 +02:00

datasets

fix(save codec options): making sure codec options are always set via set_if (#3910)

2026-07-02 15:29:14 +02:00

envs

feat(policies): add EVO1 policy (#3908)

2026-07-03 22:17:15 +02:00

fixtures

fix(depth unit): adding input depth unit storage in the dataset metadata (#3899)

2026-07-02 11:53:13 +02:00

jobs

feat(train): run training remotely on HF Jobs via --job.target (#3856)

2026-06-29 17:59:33 +02:00

mocks

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

motors

fix(feetech): motor position readings overflow (#3373)

2026-04-13 22:39:58 +02:00

navigation

navigation: port value maps, features, skills, agent + dog-nav CLI

2026-07-20 18:27:07 +02:00

optim

feat(train): FSDP checkpoint saving (#3810)

2026-06-22 13:51:21 +02:00

policies

refactor(wall-x): subclass native Transformers Qwen2.5-VL instead of vendoring it (#4035)

2026-07-17 19:09:12 +02:00

processor

fix(images/videos): fixing aggregate_pipeline_dataset_features to avoid unwanted images features deletion (#3783)

2026-06-15 17:55:52 +02:00

rewards

feat(rewards): add ROBOMETER reward model (#3627)

2026-05-29 21:45:39 +02:00

rl

RL stack refactoring (#3075)

2026-05-12 15:49:54 +02:00

robots

Add Unitree Go2 robot + spatial-memory navigation base

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

scripts

Move annotation dependencies to module scope (#4040)

2026-07-16 18:35:32 +02:00

teleoperators

refactor(robots): homogenize bi-manual setups implementations (#3772)

2026-06-15 16:28:54 +02:00

training

Add inline offline validation with train/eval split (#3824)

2026-06-25 15:31:24 +02:00

transport

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

utils

Aggregate policy sub-losses through MetricsTracker (#4024)

2026-07-16 12:12:37 +02:00

__init__.py

chore(doc): add license header to all files (#818)

2025-03-05 17:56:51 +01:00

conftest.py

perf(tests): cache draccus docstring extraction (#3903)

2026-07-01 17:05:43 +02:00

test_available.py

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

test_cli_peft.py

feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI (#3413)

2026-04-28 00:57:35 +02:00

test_control_robot.py

feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI (#3413)

2026-04-28 00:57:35 +02:00

test_robomme_env.py

feat(envs): add RoboMME benchmark (#3311)

2026-04-20 20:21:27 +02:00

test_rollout.py

feat(rollout): adding episodic strategy (#3717)

2026-06-06 00:32:38 +02:00

test_yaml_policy_path.py

Fix policy.path in YAML configs (PR #3145 followup) (#3597)

2026-05-26 14:01:19 +02:00

utils.py

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00