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‎robo_orchard/lab/master/_downloads/36387a1fb248965e03ee15ceffa487c0/nonb-05_navigation_models.ipynb‎

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{
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"cells": [
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"# Model Zoo: Loading Pre-trained Navigation Models\n\nThis tutorial demonstrates how to load and use the pre-trained\nState-of-the-Art (SOTA) navigation models provided by the\n**RoboOrchardLab**.\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {
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"collapsed": false
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},
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"outputs": [],
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"source": [
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"# sphinx_gallery_thumbnail_path = '_static/images/sphx_glr_install_thumb.png'"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## Aux-Think: Exploring Reasoning Strategies for Data-Efficient Vision-Language Navigation\n\n[Click here to visit the homepage.](https://horizonrobotics.github.io/robot_lab/aux-think/index.html)_\n\n### Loading Pretrained Model\n\n```python\nimport torch\nfrom robo_orchard_lab.models import TorchModelMixin\n\nmodel: torch.nn.Module = TorchModelMixin.load(\"hf://HorizonRobotics/Aux-Think\")\n```\n### Inference Pipeline\n\n```python\nimport torch\nfrom robo_orchard_lab.inference import InferencePipelineMixin\nfrom robo_orchard_lab.processors.auxthink_processor import AuxThinkInput\n\n# -----------------------------\n# Step 1. Load a saved pipeline\n# -----------------------------\npipeline = InferencePipelineMixin.load(\"hf://HorizonRobotics/Aux-Think\")\npipeline.model.eval()\n\n# -----------------------------\n# Step 2. Prepare raw input\n# -----------------------------\ndata = AuxThinkInput(\n image_paths=[\n \"hf://HorizonRobotics/Aux-Think/data_example/rgb_0.png\",\n \"hf://HorizonRobotics/Aux-Think/data_example/rgb_1.png\",\n \"hf://HorizonRobotics/Aux-Think/data_example/rgb_2.png\",\n \"hf://HorizonRobotics/Aux-Think/data_example/rgb_3.png\",\n \"hf://HorizonRobotics/Aux-Think/data_example/rgb_4.png\",\n \"hf://HorizonRobotics/Aux-Think/data_example/rgb_5.png\",\n \"hf://HorizonRobotics/Aux-Think/data_example/rgb_6.png\",\n \"hf://HorizonRobotics/Aux-Think/data_example/rgb_7.png\",\n ],\n instruction=\"Go around the kitchen island and wait between the tall cabinet and wine fridge.\"\n)\n\n# -----------------------------\n# Step 3. Run inference\n# (pre_process \u2192 collate \u2192 model \u2192 post_process)\n# -----------------------------\nresult = pipeline(data)\nprint(result.text)\n\n# Example Output:\n# \"The next action is move forward 25 cm, turn left 45 degrees, turn left 15 degrees.\"\n\n\n# -----------------------------\n# Step 4. Batch inference (optional)\n# -----------------------------\nbatch_data = [data, data]\nbatch_results = list(pipeline(batch_data))\nfor r in batch_results:\n print(r.text)\n```\n"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.10.12"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 0
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}

‎robo_orchard/lab/master/_downloads/9fa2f7308d626e9b589441f6e6accbbd/nonb-05_navigation_models.py‎

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# Project RoboOrchard
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#
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# Copyright (c) 2024-2025 Horizon Robotics. All Rights Reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
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# implied. See the License for the specific language governing
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# permissions and limitations under the License.
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# ruff: noqa: E501 D415 D205 E402
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"""Model Zoo: Loading Pre-trained Navigation Models
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=================================================================
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This tutorial demonstrates how to load and use the pre-trained
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State-of-the-Art (SOTA) navigation models provided by the
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**RoboOrchardLab**.
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"""
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# sphinx_gallery_thumbnail_path = '_static/images/sphx_glr_install_thumb.png'
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# %%
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# Aux-Think: Exploring Reasoning Strategies for Data-Efficient Vision-Language Navigation
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# --------------------------------------------------------------------------------------------
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#
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# `Click here to visit the homepage. <https://horizonrobotics.github.io/robot_lab/aux-think/index.html>`__
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#
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# Loading Pretrained Model
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# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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#
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# .. code-block:: python
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#
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# import torch
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# from robo_orchard_lab.models import TorchModelMixin
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#
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# model: torch.nn.Module = TorchModelMixin.load("hf://HorizonRobotics/Aux-Think")
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#
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# Inference Pipeline
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# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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#
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# .. code-block:: python
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#
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# import torch
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# from robo_orchard_lab.inference import InferencePipelineMixin
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# from robo_orchard_lab.processors.auxthink_processor import AuxThinkInput
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#
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# # -----------------------------
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# # Step 1. Load a saved pipeline
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# # -----------------------------
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# pipeline = InferencePipelineMixin.load("hf://HorizonRobotics/Aux-Think")
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# pipeline.model.eval()
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#
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# # -----------------------------
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# # Step 2. Prepare raw input
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# # -----------------------------
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# data = AuxThinkInput(
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# image_paths=[
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# "hf://HorizonRobotics/Aux-Think/data_example/rgb_0.png",
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# "hf://HorizonRobotics/Aux-Think/data_example/rgb_1.png",
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# "hf://HorizonRobotics/Aux-Think/data_example/rgb_2.png",
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# "hf://HorizonRobotics/Aux-Think/data_example/rgb_3.png",
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# "hf://HorizonRobotics/Aux-Think/data_example/rgb_4.png",
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# "hf://HorizonRobotics/Aux-Think/data_example/rgb_5.png",
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# "hf://HorizonRobotics/Aux-Think/data_example/rgb_6.png",
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# "hf://HorizonRobotics/Aux-Think/data_example/rgb_7.png",
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# ],
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# instruction="Go around the kitchen island and wait between the tall cabinet and wine fridge."
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# )
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#
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# # -----------------------------
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# # Step 3. Run inference
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# # (pre_process → collate → model → post_process)
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# # -----------------------------
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# result = pipeline(data)
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# print(result.text)
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#
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# # Example Output:
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# # "The next action is move forward 25 cm, turn left 45 degrees, turn left 15 degrees."
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#
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#
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# # -----------------------------
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# # Step 4. Batch inference (optional)
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# # -----------------------------
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# batch_data = [data, data]
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# batch_results = list(pipeline(batch_data))
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# for r in batch_results:
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# print(r.text)

‎robo_orchard/lab/master/_downloads/adb6768b0bf122a0b7d69c666a3a53eb/nonb-05_locomotion_models.ipynb‎

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‎robo_orchard/lab/master/_downloads/d65b47d7a63f2b3b4fc1f68581179d77/nonb-05_locomotion_models.py‎

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‎robo_orchard/lab/master/_modules/index.html‎

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<li class="toctree-l2"><a class="reference internal" href="../build/tutorials/model_zoo_tutorial/nonb-02_inference_api.html">Creating, Saving, and Loading Inference Pipelines</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../build/tutorials/model_zoo_tutorial/nonb-03_perception_models.html">Model Zoo: Loading Pre-trained Perception Models</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../build/tutorials/model_zoo_tutorial/nonb-04_manipulation_models.html">Model Zoo: Loading Pre-trained Manipulation Models</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../build/tutorials/model_zoo_tutorial/nonb-05_locomotion_models.html">Model Zoo: Loading Pre-trained Locomotion Models</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../build/tutorials/model_zoo_tutorial/nonb-05_navigation_models.html">Model Zoo: Loading Pre-trained Navigation Models</a></li>
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<li class="toctree-l3 has-children"><a class="reference internal" href="../autoapi/robo_orchard_lab/models/index.html">models</a><input class="toctree-checkbox" id="toctree-checkbox-26" name="toctree-checkbox-26" role="switch" type="checkbox"/><label for="toctree-checkbox-26"><div class="visually-hidden">Toggle navigation of models</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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<li class="toctree-l4 has-children"><a class="reference internal" href="../autoapi/robo_orchard_lab/models/aux_think/index.html">aux_think</a><input class="toctree-checkbox" id="toctree-checkbox-27" name="toctree-checkbox-27" role="switch" type="checkbox"/><label for="toctree-checkbox-27"><div class="visually-hidden">Toggle navigation of aux_think</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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<li class="toctree-l5"><a class="reference internal" href="../autoapi/robo_orchard_lab/models/aux_think/model/index.html">model</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../autoapi/robo_orchard_lab/models/aux_think/processor/index.html">processor</a></li>
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<li class="toctree-l4 has-children"><a class="reference internal" href="../autoapi/robo_orchard_lab/models/bip3d/index.html">bip3d</a><input class="toctree-checkbox" id="toctree-checkbox-28" name="toctree-checkbox-28" role="switch" type="checkbox"/><label for="toctree-checkbox-28"><div class="visually-hidden">Toggle navigation of bip3d</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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<li><a href="robo_orchard_lab/inference/processor/mixin.html">robo_orchard_lab.inference.processor.mixin</a></li>
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<li><a href="robo_orchard_lab/metrics/base.html">robo_orchard_lab.metrics.base</a></li>
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<li><a href="robo_orchard_lab/models/aux_think/model.html">robo_orchard_lab.models.aux_think.model</a></li>
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<li><a href="robo_orchard_lab/models/aux_think/processor.html">robo_orchard_lab.models.aux_think.processor</a></li>
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<li><a href="robo_orchard_lab/models/bip3d/bert.html">robo_orchard_lab.models.bip3d.bert</a></li>
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<li><a href="robo_orchard_lab/models/bip3d/feature_enhancer.html">robo_orchard_lab.models.bip3d.feature_enhancer</a></li>
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<li><a href="robo_orchard_lab/models/bip3d/grounding_decoder/bbox3d_decoder.html">robo_orchard_lab.models.bip3d.grounding_decoder.bbox3d_decoder</a></li>

‎robo_orchard/lab/master/_modules/robo_orchard_lab/dataset/collates.html‎

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<li class="toctree-l2"><a class="reference internal" href="../../../build/tutorials/model_zoo_tutorial/nonb-02_inference_api.html">Creating, Saving, and Loading Inference Pipelines</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../build/tutorials/model_zoo_tutorial/nonb-03_perception_models.html">Model Zoo: Loading Pre-trained Perception Models</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../build/tutorials/model_zoo_tutorial/nonb-04_manipulation_models.html">Model Zoo: Loading Pre-trained Manipulation Models</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../build/tutorials/model_zoo_tutorial/nonb-05_locomotion_models.html">Model Zoo: Loading Pre-trained Locomotion Models</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../build/tutorials/model_zoo_tutorial/nonb-05_navigation_models.html">Model Zoo: Loading Pre-trained Navigation Models</a></li>
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<li class="toctree-l3 has-children"><a class="reference internal" href="../../../autoapi/robo_orchard_lab/models/index.html">models</a><input class="toctree-checkbox" id="toctree-checkbox-26" name="toctree-checkbox-26" role="switch" type="checkbox"/><label for="toctree-checkbox-26"><div class="visually-hidden">Toggle navigation of models</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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<li class="toctree-l4 has-children"><a class="reference internal" href="../../../autoapi/robo_orchard_lab/models/bip3d/index.html">bip3d</a><input class="toctree-checkbox" id="toctree-checkbox-28" name="toctree-checkbox-28" role="switch" type="checkbox"/><label for="toctree-checkbox-28"><div class="visually-hidden">Toggle navigation of bip3d</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>

‎robo_orchard/lab/master/_modules/robo_orchard_lab/dataset/datatypes/camera.html‎

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<li class="toctree-l2"><a class="reference internal" href="../../../../build/tutorials/model_zoo_tutorial/nonb-02_inference_api.html">Creating, Saving, and Loading Inference Pipelines</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../../build/tutorials/model_zoo_tutorial/nonb-03_perception_models.html">Model Zoo: Loading Pre-trained Perception Models</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../../build/tutorials/model_zoo_tutorial/nonb-04_manipulation_models.html">Model Zoo: Loading Pre-trained Manipulation Models</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../../build/tutorials/model_zoo_tutorial/nonb-05_locomotion_models.html">Model Zoo: Loading Pre-trained Locomotion Models</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../../build/tutorials/model_zoo_tutorial/nonb-05_navigation_models.html">Model Zoo: Loading Pre-trained Navigation Models</a></li>
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<li class="toctree-l3 has-children"><a class="reference internal" href="../../../../autoapi/robo_orchard_lab/models/index.html">models</a><input class="toctree-checkbox" id="toctree-checkbox-26" name="toctree-checkbox-26" role="switch" type="checkbox"/><label for="toctree-checkbox-26"><div class="visually-hidden">Toggle navigation of models</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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