Third-Party References
The third_party/ directory contains external projects checked out as git submodules. They are kept separate from the main CostNav code so we can inspect upstream implementations without mixing their code into our core packages.
Setup
Submodules
Simulation & Assets
| Submodule |
Description |
IsaacLab/ |
NVIDIA's Isaac Lab — reference for upstream tasks, assets, and training utilities |
urban-sim/ |
Metadriverse urban simulator — reference for robot configuration and related assets |
PeopleAPI/ |
Isaac Sim extension for spawning animated pedestrians with NavMesh-based walking |
FoodAssets/ |
Isaac Sim extension — curated asset library for food-related scenes (popcorn cargo) |
Navigation Baselines
| Submodule |
Description |
visualnav-transformer/ |
ViNT, NoMaD, GNM — visual navigation transformer baselines |
NavDP/ |
Navigation Diffusion Policy — diffusion-based navigation baseline |
InternNav/ |
InternNav — NavDP training framework with multi-baseline support |
diffusion_policy/ |
Diffusion Policy — core diffusion policy library used by NavDP |
navigation2/ |
ROS2 Navigation Stack 2 — rule-based navigation baseline |
Usage
- Treat these directories as read-only references. All CostNav-specific code lives under
costnav_isaacsim/ or costnav_isaaclab/.
- These references are excluded from Docker build contexts and install hooks — they exist only to provide context while developing CostNav.
- When updating to newer upstream commits, use
git submodule update --remote and capture the resulting commit hashes in your PR description.