Navigation Simulation Platform for Embodied AI
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OmniNav is a Genesis-based navigation simulation platform.
It is built as:
- 🧱 A general navigation capability base for PointNav / ObjectNav / Waypoint tasks.
- 🧭 An inspection-first workflow platform where navigation is atomic capability and inspection is business loop.
- 🧪 A reproducible evaluation framework with unified Observation / Action / TaskResult contracts.
Current v0.1 focus:
- ✅ Coverage & Traversability
- ✅ Anomaly & Semantics (non-thermal mandatory baseline)
- ✅ Complex static scenes & traversability
- ⚙️ Layered architecture: Core / Assets / Robots / Sensors / Algorithms / Tasks / Interfaces
- 📦 Registry-driven components: robot, sensor, locomotion, algorithm, task, metric
- 🔁 Batch-first runtime:
(B, ...)data flow by default - 🧩 Config-driven experiments: Hydra + OmegaConf overrides
- 🤖 Inspection task pipeline:
Observation -> Algorithm -> Locomotion -> Task - 🌉 ROS2 bridge support: RViz sensor demo and Nav2 closed-loop demo
- Installation (source of truth):
INSTALL.md - Getting Started (pure Python):
examples/getting_started/run_getting_started.py - ROS2/Nav2 demos:
examples/ros2/omninav_ros2_examples/README.md - Full documentation (GitHub Pages): https://royalvice.github.io/OmniNav/
git clone https://github.com/Royalvice/OmniNav.git
cd OmniNav
git lfs install
git submodule update --init external/Genesis
git submodule update --init external/genesis_ros
git lfs pull
python -m examples.getting_started.run_getting_startedpython examples/01_teleop_go2.py
python examples/02_teleop_go2w.py
python examples/03_lidar_visualization.py
python examples/04_camera_visualization.py
python examples/05_waypoint_navigation.py
python examples/06_inspection_task.pyOmniNav is licensed under the Apache-2.0 License.
@misc{OmniNav,
author = {OmniNav Contributors},
title = {OmniNav: Navigation Simulation Platform for Embodied AI},
year = {2026},
url = {https://github.com/Royalvice/OmniNav}
}