We will open source the complete code after the paper is accepted
- [2023/04]: The 3D model in the simulation environment can be downloaded in OneDrive.
- [2024/04]: 🔥 We released the code of HE-Nav in the simulation environment. The pre-trained model can be downloaded at OneDrive
The code was tested with python=3.6.9
, as well as pytorch=1.10.0+cu111
and torchvision=0.11.2+cu111
.
Please follow the instructions here to install both PyTorch and TorchVision dependencies. Installing both PyTorch and TorchVision with CUDA support is strongly recommended.
- Clone the repository locally:
git clone https://github.com/jmwang0117/HE-Nav.git
- We recommend using Docker to run the project, which can reduce the burden of configuring the environment, you can find the Dockerfile in our project, and then execute the following command:
docker build . -t skywalker_robot -f Dockerfile
- After the compilation is complete, use our one-click startup script in the same directory:
bash create_container.sh
Pay attention to switch docker image
- Next enter the container and use git clone our project
docker exec -it robot bash
- Then catkin_make compiles this project
apt update && sudo apt-get install libarmadillo-dev ros-melodic-nlopt
pip install pyyaml
pip install rospkg
pip install imageio
catkin_make
source devel/setup.bash
sh src/run.sh
You've begun this project successfully; enjoy yourself!
- SemanticKITTI
Many thanks to these excellent open source projects: