🚁 HTNav

Overview

HTNav: A Hybrid Navigation Framework with Tiered Structure for Urban Aerial Vision-and-Language Navigation

Accepted by CVPR 2026

Code upload is still in progress.

This code was developed with Python 3.10, PyTorch 2.2.2, and CUDA 11.8 on Ubuntu 22.04.

To set up the environment, create the conda environment and install PyTorch.

conda create -n htnav python=3.10 &&
conda activate htnav &&
conda install pytorch torchvision pytorch-cuda=11.8 -c pytorch -c nvidia

Then install Set-of-Marks and its dependencies.

conda install mpi4py

pip install git+https://github.com/water-cookie/Segment-Everything-Everywhere-All-At-Once.git@package
pip install git+https://github.com/water-cookie/Semantic-SAM.git@package
pip install git+https://github.com/facebookresearch/segment-anything.git 

git clone https://github.com/water-cookie/SoM.git  &&
cd SoM/ops && ./make.sh && cd ..  &&
pip install --editable . && cd ..

pip install -r requirements.txt