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yv1es/
less-is-more

Name: less-is-more
Availability: InStock

pytorch

robotics

visual-navigation

trajectory-prediction

transformer

leggedrobotics/grand_tour_dataset

mit

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This repository provides pretrained LiMo model weights from the paper:

Less is More 🍋: Scalable Visual Navigation from Limited Data

Project page: https://leggedrobotics.github.io/less-is-more/
Code repository: https://github.com/leggedrobotics/less-is-more

Overview

LiMo is a vision-based, goal-conditioned navigation model that predicts future trajectories from monocular RGB observations.
It uses a DINOv2 ViT backbone together with a transformer decoder to generate sequences of SE(2) poses.

The checkpoints in this repository correspond to the different training settings described in the paper.

Checkpoints

File	Description
`limo_trained_on_D_aug.safetensors`	trained on dataset D_aug (D_tel + D_geo)
`limo_trained_on_D_geo.safetensors`	trained on dataset D_geo (planner labeled)
`limo_trained_on_D_tel.safetensors`	trained on dataset D_tel (teleop data)
`limo_with_side_cams.safetensors`	model using additional side camera inputs (trained on D_aug)

Configuration files:

limo_config.json — standard front camera setup
limo_side_cams_config.json — multi-view (front + side cameras)

yv1es/less-is-more

Less is More 🍋: Scalable Visual Navigation from Limited Data

Overview

Checkpoints

yv1es/
less-is-more