bdaiinstitute · jiuguangw · Oct 16, 2023 · Oct 16, 2023
diff --git a/.github/workflows/pre_commit.yml b/.github/workflows/pre_commit.yml
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 name: Pre-Commit
 
 on:

diff --git a/config/experiments/reality.yaml b/config/experiments/reality.yaml
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 # @package _global_
 defaults:
   - /policy: zsos_config_base

diff --git a/config/experiments/ver_pointnav.yaml b/config/experiments/ver_pointnav.yaml
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 # @package _global_
 
 defaults:

diff --git a/config/experiments/vlfm_objectnav_hm3d.yaml b/config/experiments/vlfm_objectnav_hm3d.yaml
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 # @package _global_
 
 defaults:

diff --git a/config/tasks/pointnav_depth_hm3d.yaml b/config/tasks/pointnav_depth_hm3d.yaml
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 # @package _global_
 
 defaults:

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 FROM ubuntu:22.04
 
 ENV DEBIAN_FRONTEND=noninteractive

diff --git a/scripts/parse_jsons.py b/scripts/parse_jsons.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import argparse
 import json
 import os

diff --git a/test/test_setup.py b/test/test_setup.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import os
 
 from habitat_baselines.common.baseline_registry import baseline_registry  # noqa

diff --git a/test/test_visualization.py b/test/test_visualization.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import os
 
 import cv2

diff --git a/vlfm/__init__.py b/vlfm/__init__.py
@@ -0,0 +1 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
diff --git a/vlfm/mapping/base_map.py b/vlfm/mapping/base_map.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Any, List
 
 import numpy as np

diff --git a/vlfm/mapping/frontier_map.py b/vlfm/mapping/frontier_map.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import List, Tuple
 
 import numpy as np

diff --git a/vlfm/mapping/object_point_cloud_map.py b/vlfm/mapping/object_point_cloud_map.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Dict, Union
 
 import cv2

diff --git a/vlfm/mapping/obstacle_map.py b/vlfm/mapping/obstacle_map.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import cv2
 import numpy as np
 from frontier_exploration.frontier_detection import detect_frontier_waypoints

diff --git a/vlfm/mapping/traj_visualizer.py b/vlfm/mapping/traj_visualizer.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Any, List, Union
 
 import cv2

diff --git a/vlfm/mapping/value_map.py b/vlfm/mapping/value_map.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import glob
 import json
 import os

diff --git a/vlfm/measurements/traveled_stairs.py b/vlfm/measurements/traveled_stairs.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from dataclasses import dataclass
 from typing import Any, List
 

diff --git a/vlfm/obs_transformers/resize.py b/vlfm/obs_transformers/resize.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import copy
 from dataclasses import dataclass
 from typing import Dict, Tuple

diff --git a/vlfm/obs_transformers/utils.py b/vlfm/obs_transformers/utils.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Tuple
 
 import torch

diff --git a/vlfm/policy/__init__.py b/vlfm/policy/__init__.py
@@ -0,0 +1 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
diff --git a/vlfm/policy/action_replay_policy.py b/vlfm/policy/action_replay_policy.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import os
 from typing import Any, List
 

diff --git a/vlfm/policy/base_objectnav_policy.py b/vlfm/policy/base_objectnav_policy.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import os
 from dataclasses import dataclass, fields
 from typing import Any, Dict, List, Tuple, Union

diff --git a/vlfm/policy/base_policy.py b/vlfm/policy/base_policy.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Any, Generator
 
 import torch

diff --git a/vlfm/policy/habitat_policies.py b/vlfm/policy/habitat_policies.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from dataclasses import dataclass
 from typing import Any, Dict, Union
 

diff --git a/vlfm/policy/itm_policy.py b/vlfm/policy/itm_policy.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import os
 from typing import Any, Dict, List, Tuple, Union
 

diff --git a/vlfm/policy/reality_policies.py b/vlfm/policy/reality_policies.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from dataclasses import dataclass
 from typing import Any, Dict, List, Tuple, Union
 

diff --git a/vlfm/policy/utils/__init__.py b/vlfm/policy/utils/__init__.py
@@ -0,0 +1 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
diff --git a/vlfm/policy/utils/acyclic_enforcer.py b/vlfm/policy/utils/acyclic_enforcer.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Any, Set
 
 import numpy as np

diff --git a/vlfm/policy/utils/non_habitat_policy/__init__.py b/vlfm/policy/utils/non_habitat_policy/__init__.py
@@ -0,0 +1 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
diff --git a/vlfm/policy/utils/non_habitat_policy/nh_pointnav_policy.py b/vlfm/policy/utils/non_habitat_policy/nh_pointnav_policy.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Dict, Optional, Tuple
 
 import torch

diff --git a/vlfm/policy/utils/non_habitat_policy/resnet.py b/vlfm/policy/utils/non_habitat_policy/resnet.py
@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 
 # Adapted from:
 # https://github.com/facebookresearch/habitat-lab/blob/main/habitat-baselines/habitat_baselines/rl/ddppo/policy/resnet.py

diff --git a/vlfm/policy/utils/non_habitat_policy/rnn_state_encoder.py b/vlfm/policy/utils/non_habitat_policy/rnn_state_encoder.py
@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 
 # Adapted from:
 # https://github.com/facebookresearch/habitat-lab/blob/main/habitat-baselines/habitat_baselines/rl/models/rnn_state_encoder.py

diff --git a/vlfm/policy/utils/pointnav_policy.py b/vlfm/policy/utils/pointnav_policy.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Any, Dict, Tuple, Union
 
 import numpy as np

diff --git a/vlfm/reality/bdsw_nav_env.py b/vlfm/reality/bdsw_nav_env.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import numpy as np
 import torch
 from spot_wrapper.spot import Spot

diff --git a/vlfm/reality/objectnav_env.py b/vlfm/reality/objectnav_env.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import os
 import time
 from datetime import datetime

diff --git a/vlfm/reality/pointnav_env.py b/vlfm/reality/pointnav_env.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import time
 from typing import Any, Dict, Optional, Tuple, Union
 

diff --git a/vlfm/reality/robots/base_robot.py b/vlfm/reality/robots/base_robot.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Dict, List, Tuple
 
 import numpy as np

diff --git a/vlfm/reality/robots/bdsw_robot.py b/vlfm/reality/robots/bdsw_robot.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Any, Dict, List, Tuple
 
 import numpy as np

diff --git a/vlfm/reality/robots/camera_ids.py b/vlfm/reality/robots/camera_ids.py
@@ -1,3 +1,6 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
+
 class SpotCamIds:
     r"""Enumeration of types of cameras."""
 

diff --git a/vlfm/reality/run_bdsw_objnav_env.py b/vlfm/reality/run_bdsw_objnav_env.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import time
 
 import hydra

diff --git a/vlfm/run.py b/vlfm/run.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import os
 
 # The following imports require habitat to be installed, and despite not being used by

diff --git a/vlfm/semexp_env/eval.py b/vlfm/semexp_env/eval.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import os
 import time
 from typing import Any, Dict, List, Tuple

diff --git a/vlfm/semexp_env/objnav_gibson_zsos.yaml b/vlfm/semexp_env/objnav_gibson_zsos.yaml
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 ENVIRONMENT:
   MAX_EPISODE_STEPS: 500
 SIMULATOR:

diff --git a/vlfm/semexp_env/semexp_policy.py b/vlfm/semexp_env/semexp_policy.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Any, Dict, Tuple, Union
 
 import numpy as np

diff --git a/vlfm/utils/episode_stats_logger.py b/vlfm/utils/episode_stats_logger.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import os
 from typing import Any, Dict
 

diff --git a/vlfm/utils/generate_dummy_policy.py b/vlfm/utils/generate_dummy_policy.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import torch
 
 from vlfm.run import get_config

diff --git a/vlfm/utils/geometry_utils.py b/vlfm/utils/geometry_utils.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import math
 from typing import Tuple, Union
 

diff --git a/vlfm/utils/habitat_visualizer.py b/vlfm/utils/habitat_visualizer.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Any, Dict, List, Tuple
 
 import cv2

diff --git a/vlfm/utils/img_utils.py b/vlfm/utils/img_utils.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import List, Tuple, Union
 
 import cv2

diff --git a/vlfm/utils/log_saver.py b/vlfm/utils/log_saver.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import json
 import os
 import time

diff --git a/vlfm/utils/visualization.py b/vlfm/utils/visualization.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import List
 
 import cv2

diff --git a/vlfm/utils/vlfm_trainer.py b/vlfm/utils/vlfm_trainer.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import os
 from collections import defaultdict
 from typing import Any, Dict, List

diff --git a/vlfm/vlm/__init__.py b/vlfm/vlm/__init__.py
@@ -0,0 +1 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
diff --git a/vlfm/vlm/blip2.py b/vlfm/vlm/blip2.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Any, Optional
 
 import numpy as np

diff --git a/vlfm/vlm/blip2itm.py b/vlfm/vlm/blip2itm.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Any, Optional
 
 import numpy as np

diff --git a/vlfm/vlm/coco_classes.py b/vlfm/vlm/coco_classes.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 COCO_CLASSES = [
     "person",
     "bicycle",

diff --git a/vlfm/vlm/detections.py b/vlfm/vlm/detections.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import List, Optional, Tuple
 
 import cv2

diff --git a/vlfm/vlm/fiber.py b/vlfm/vlm/fiber.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import numpy as np
 import torch
 from maskrcnn_benchmark.config import cfg

diff --git a/vlfm/vlm/grounding_dino.py b/vlfm/vlm/grounding_dino.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 from typing import Optional
 
 import numpy as np

diff --git a/vlfm/vlm/sam.py b/vlfm/vlm/sam.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import os
 from typing import Any, List, Optional
 

diff --git a/vlfm/vlm/server_wrapper.py b/vlfm/vlm/server_wrapper.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import base64
 import os
 import random

diff --git a/vlfm/vlm/yolov7.py b/vlfm/vlm/yolov7.py
@@ -1,3 +1,5 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 import sys
 from typing import List, Optional