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CL4Nav

★ 30 Open GitHub ↗

[RAL 2025] "Learning Cross-Modal Visuomotor Policies for Autonomous Drone Navigation"

// repository documentation

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# Learning Cross-Modal Visuomotor Policies for Autonomous Drone Navigation
:rocket:A Unity-based framework that enhances monocular UAV navigation robustness against visual interference through cross-modal contrastive learning.

<a id="readme-top"></a>

[![MIT License][license-shield]][license-url]

<details>
 <summary>Table of Contents</summary>
 <ol>
 <li>
 <a href="#about-the-project">About The Project</a>
 <ul>
 </ul>
 </li>
 <li>
 <a href="#getting-started">Getting Started</a>
 <ul>
 <li><a href="#installation-and-usage">Installation and Usage</a></li>
 </ul>
 </li>
 <li><a href="#dataset">Dataset</a></li>
 <li><a href="#results">Results</a></li>
 <li><a href="#license">License</a></li>
 <li><a href="#contact">Contact</a></li>
 </ol>
</details>

## About The Project

This project focuses on enhancing the navigation capabilities of UAVs in visually challenging environments using a Unity-based simulation framework. The learning framework combines **cross-modal contrastive learning** and **deep reinforcement learning** to acquire robust visuomotor policies from monocular RGB observations. A fixed **resnet-based encoder** trained with RGB-depth contrastive objectives is used to extract transferable visual representations, which are then used to train a navigation policy using **Proximal Policy Optimization (PPO)**.

> ⚠️ **Note**  
> Due to the large size and complexity of Unity-based simulation environments, we only release the code of **feature encoder**, which allows you to extract robust representations from RGB images for downstream tasks such as reinforcement learning.  
> 🧠 The feature encoder can be easily integrated with your own simulator.  
> 🔧 If you're looking for simple Gazebo-based UAV navigation examples, you can check out our other projects on GitHub:  
> ➡️ **[gazebo_uav_RL](https://github.com/zzzzzyh111/gazebo_uav_RL)**

> ➡️ **[NonExpert-Guided-Visual-UAV-Navigation-Gazebo](https://github.com/zzzzzyh111/NonExpert-Guided-Visual-UAV-Navigation-Gazebo)**

This work has been published in [IEEE Robotics and Automation Letters (RAL)](https://ieeexplore.ieee.org/document/10960642). Please kindly refer to the following format for citations if needed :clap: :clap: :clap:

```bibtex
@article{zhang2025learning,
  title={Learning Cross-Modal Visuomotor Policies for Autonomous Drone Navigation},
  author={Zhang, Yuhang and Xiao, Jiaping and Feroskhan, Mir},
  journal={IEEE Robotics and Automation Letters},
  year={2025},
  publisher={IEEE}
}
```

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## Getting Started

### Installation and Usage

1. Clone the repo
   ```sh
   git clone https://github.com/zzzzzyh111/CL4Nav.git
   ```
2. Create the conda environment
   ```sh
   conda env create --name cl4nav --file env.yml
   conda activate cl4nav
   ```

3. Install required packages
   ```sh
   pip install -r requirements.txt
   ```
4. Run the script
   ```sh
   python3 run.py
   ```
Before running CL4Nav, make sure you choose the correct running configurations. You can change the running configurations by passing keyword arguments to the ```run.py``` file.

```python
python run.py -rgb-path ./datasets/RGB -depth-path ./datasets/Depth --dataset-name uav
```
If you want to run it on CPU (for debugging purposes) use the ```--disable-cuda``` option.

For 16-bit precision GPU training, there **NO** need to to install [NVIDIA apex](https://github.com/NVIDIA/apex). Just use the ```--fp16_precision``` flag and this implementation will use [Pytorch built in AMP training](https://pytorch.org/docs/stable/notes/amp_examples.html).

After training is completed, results will be saved in the `runs/` directory.  
To visualize your loss curves and training metrics using TensorBoard, run the following command:
```bash
tensorboard --logdir=path/to/your/runs
```

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## Dataset
A small sample dataset is provided for evaluation and testing. 
You can download it from the following Google Drive link:

🔗 [Sample Dataset](https://drive.google.com/file/d/1PjifJkg0OEAjeXJRcTimFM3O1EljDrOP/view?usp=drive_link)

After downloading, please **extract the archive** and place the resulting `RGB/` and `Depth/` folders into the project's `datasets/` directory:
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## Results

 <img src="./Assets/reward.jpg" alt="Image 1" width="400" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2); margin-right: 20px;">

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## License

Distributed under the MIT License. See `LICENSE` for more information.

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## Contact

Yuhang Zhang  - yuhang004@e.ntu.edu.sg

Project Link: [https://github.com/zzzzzyh111/CL4Nav](https://github.com/zzzzzyh111/CL4Nav)

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