trajectory

xiao_hei_vln.trajectory

Coverage trajectory generation for CMU VLN Challenge scenes.

TrajectoryResult dataclass

Full pipeline output.

plan_trajectory(traversable_points, objects=None, *, hull_ratio=0.1, robot_radius=0.3, grid_resolution=0.25, coverage_radius=3.0, object_weight=10.0, min_floor_coverage=0.95, floor_subsample=10, min_waypoint_spacing=0.7)

Run the full coverage trajectory pipeline.

1. Build polygon from point cloud
2. Erode by robot radius
3. Sample candidate viewpoints
4. Compute object + floor coverage sets (with 2D raycasting)
5. Greedy weighted set cover
6. TSP ordering + headings

plan_trajectory_from_zip(zip_path, scene_name, **kwargs)

Convenience: parse data from a scene zip, then plan.