ViPlanner: Visual Semantic Imperative Learning for Local Navigation
Paper • 2310.00982 • Published
ViPlanner checkpoint mirror
Mirror of the released ViPlanner checkpoint and its training config for the arena_planners viplanner planner.
- Source: https://github.com/leggedrobotics/viplanner (README, "Model Download", Google Drive files
1PY7XBkyIGESjdh1cMSiJgwwaIT0WaxIcand1r1yhNQAJnjpn9-xpAQWGaQedwma5zokr, dated 2024-02-09) - Paper: Roth et al., "ViPlanner: Visual Semantic Imperative Learning for Local Navigation", ICRA 2024, https://arxiv.org/abs/2310.00982
- Config: depth and semantic input (
sem: true), 360x640 network input, 5 keypoints, maximum depth and goal distance 15 m
| File | sha256 |
|---|---|
model.pt |
2fd5219cfb160e5035d43319632b3d975637a0e770c4d455a26d3124a15ca87b |
model.yaml |
139f7c147c6c6d56b9644c3a505274cccc22f2f7bb5a9eeb29df98e00bdfd320 |
License
BSD 3-Clause License
Copyright (c) 2023 Pascal Roth Robotic Systems Lab, ETH Zurich
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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Citation
@inproceedings{roth2024viplanner,
title={ViPlanner: Visual Semantic Imperative Learning for Local Navigation},
author={Roth, Pascal and Nubert, Julian and Yang, Fan and Mittal, Mayank and Hutter, Marco},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
pages={5243--5249},
year={2024},
organization={IEEE}
}