General Navigation

General Navigation Models based on GNM, ViNT, NoMaD as a pytorch repo installable from pip for quick and easy deployment. This repo provides functionality to load and run the models and use MPC to generate steering commands for your robot. If you find any functionality in this repo useful, consider citing it:

@misc{aditya2024general_navigation,
  title        = {General Navigation Python Module},
  author       = {Aditya, NG},
  howpublished = {\url{https://pypi.org/project/general-navigation/}},
  version      = {1.0.0},
  year         = {2024},
  note         = {Accessed: 2024-06-09}
}

Install it from PyPI

PyPi Link Install our project from pip and quickly get started by trying it out on your own test video!

pip install general_navigation
python3 -m general_navigation --media media/test.mp4

If you want to connect with the Carla simulator, you will also need to seperately install carla

pip install carla==0.9.15  # Linux and Windows
pip install carla==0.9.5  # Mac

Usage

Documentation Link

Creating a pytorch instance of the model

from general_navigation.models.factory import (
  get_default_config, get_model, get_weights
)

config = get_default_config()
model = get_model(config)
model = get_weights(config, model, device)

Using the command line tool for inference

$ python3 -m general_navigation --help
usage: general_navigation [-h] [--device {auto,cuda,cpu}] [--media MEDIA]

options:
  -h, --help            show this help message and exit
  --device {auto,cuda,cpu}, -d {auto,cuda,cpu}
  --media MEDIA, -m MEDIA
                        File path, use camera index if you want to use the webcam
$ python3 -m general_navigation --media media/test.mp4