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Change to new RAI Institute copyright #93

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c97aae2
Change to new RAI Institute copyright
baxelrod-bdai Nov 6, 2025
c958fb1
rm old copyright
baxelrod-bdai Nov 12, 2025
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2 changes: 1 addition & 1 deletion .github/workflows/docker.yml
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

name: Docker - Build VLFM Docker

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2 changes: 1 addition & 1 deletion .github/workflows/pre_commit.yml
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

name: Pre-Commit

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2 changes: 2 additions & 0 deletions .github/workflows/test.yml
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# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

# Copyright [2023] Boston Dynamics AI Institute, Inc.

name: VLFM CI
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2 changes: 1 addition & 1 deletion .pre-commit-config.yaml
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

repos:
- repo: https://github.com/charliermarsh/ruff-pre-commit
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2 changes: 1 addition & 1 deletion LICENSE
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MIT License

Copyright (c) 2023-2024 Boston Dynamics AI Institute LLC
Copyright (c) 2023-2024 Robotics and AI Institute LLC dba RAI Institute

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
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2 changes: 2 additions & 0 deletions README.md
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<!-- Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved. -->

<p align="center">
<img src="docs/teaser_v1.jpg" width="700">
<h1 align="center">VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation</h1>
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2 changes: 1 addition & 1 deletion config/experiments/reality.yaml
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# @package _global_

# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

defaults:
- /policy: vlfm_config_base
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2 changes: 1 addition & 1 deletion config/experiments/ver_pointnav.yaml
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# @package _global_

# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

defaults:
- /tasks: pointnav_depth_hm3d
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2 changes: 1 addition & 1 deletion config/experiments/vlfm_objectnav_hm3d.yaml
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# @package _global_

# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

defaults:
- /habitat_baselines: habitat_baselines_rl_config_base
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2 changes: 1 addition & 1 deletion config/tasks/pointnav_depth_hm3d.yaml
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

# @package _global_

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2 changes: 1 addition & 1 deletion docker/Dockerfile
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

FROM ubuntu:22.04

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2 changes: 2 additions & 0 deletions pyproject.toml
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# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

# Copyright [2023] Boston Dynamics AI Institute, Inc.

[build-system]
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3 changes: 3 additions & 0 deletions scripts/eval_dummy_policy.sh
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#!/usr/bin/env bash

# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

# Copyright [2023] Boston Dynamics AI Institute, Inc.

python -um zsos.run \
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3 changes: 3 additions & 0 deletions scripts/eval_itm_policy.sh
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#!/usr/bin/env bash

# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

# Copyright [2023] Boston Dynamics AI Institute, Inc.

python -um vlfm.run \
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3 changes: 3 additions & 0 deletions scripts/eval_oracle_fbe_policy.sh
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#!/usr/bin/env bash

# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

# Copyright [2023] Boston Dynamics AI Institute, Inc.

python -um zsos.run \
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3 changes: 3 additions & 0 deletions scripts/launch_vlm_servers.sh
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#!/usr/bin/env bash

# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

# Copyright [2023] Boston Dynamics AI Institute, Inc.

# Ensure you have 'export VLFM_PYTHON=<PATH_TO_PYTHON>' in your .bashrc, where
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2 changes: 1 addition & 1 deletion scripts/parse_jsons.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
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@lfermoselle-bdai lfermoselle-bdai Nov 10, 2025

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just for my understanding, do we keep the original year in the new copyright format?

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@baxelrod-bdai baxelrod-bdai Nov 12, 2025

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TLDR: when updating just the copyright, i tried to maintain the existing year where possible.

The official stance is that the year should only be updated when "significant" changes are made to the file. But that is hard to enforce with a script so the pre-commit hook just updates the year whenever the file has ANY modifications. But the copyright enforcer script has an option to keep the current year, which i used when manually running it on the files.


import argparse
import json
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2 changes: 1 addition & 1 deletion setup.py
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# Copyright [2023] Boston Dynamics AI Institute, Inc.
# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from setuptools import setup

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2 changes: 1 addition & 1 deletion test/test_setup.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import os

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2 changes: 1 addition & 1 deletion test/test_visualization.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import os

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2 changes: 1 addition & 1 deletion vlfm/__init__.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
2 changes: 1 addition & 1 deletion vlfm/mapping/base_map.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Any, List

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2 changes: 1 addition & 1 deletion vlfm/mapping/frontier_map.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import List, Tuple

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2 changes: 1 addition & 1 deletion vlfm/mapping/object_point_cloud_map.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Dict, Union

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2 changes: 1 addition & 1 deletion vlfm/mapping/obstacle_map.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Any, Union

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2 changes: 1 addition & 1 deletion vlfm/mapping/traj_visualizer.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Any, List, Union

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2 changes: 1 addition & 1 deletion vlfm/mapping/value_map.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import glob
import json
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2 changes: 1 addition & 1 deletion vlfm/measurements/traveled_stairs.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from dataclasses import dataclass
from typing import Any, List
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2 changes: 1 addition & 1 deletion vlfm/obs_transformers/resize.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import copy
from dataclasses import dataclass
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2 changes: 1 addition & 1 deletion vlfm/obs_transformers/utils.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Tuple

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2 changes: 1 addition & 1 deletion vlfm/policy/__init__.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
2 changes: 1 addition & 1 deletion vlfm/policy/action_replay_policy.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import os
from typing import Any, List
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2 changes: 1 addition & 1 deletion vlfm/policy/base_objectnav_policy.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import os
from dataclasses import dataclass, fields
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2 changes: 1 addition & 1 deletion vlfm/policy/base_policy.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Any, Generator

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2 changes: 1 addition & 1 deletion vlfm/policy/habitat_policies.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from dataclasses import dataclass
from typing import Any, Dict, Union
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2 changes: 1 addition & 1 deletion vlfm/policy/itm_policy.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import os
from typing import Any, Dict, List, Tuple, Union
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2 changes: 1 addition & 1 deletion vlfm/policy/reality_policies.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from dataclasses import dataclass
from typing import Any, Dict, List, Union
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2 changes: 1 addition & 1 deletion vlfm/policy/utils/__init__.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
2 changes: 1 addition & 1 deletion vlfm/policy/utils/acyclic_enforcer.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Any, Set

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2 changes: 1 addition & 1 deletion vlfm/policy/utils/non_habitat_policy/__init__.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
2 changes: 1 addition & 1 deletion vlfm/policy/utils/non_habitat_policy/nh_pointnav_policy.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Dict, Optional, Tuple

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2 changes: 1 addition & 1 deletion vlfm/policy/utils/non_habitat_policy/resnet.py
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#!/usr/bin/env python3
# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.


# Adapted from:
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2 changes: 1 addition & 1 deletion vlfm/policy/utils/non_habitat_policy/rnn_state_encoder.py
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#!/usr/bin/env python3
# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.


# Adapted from:
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2 changes: 1 addition & 1 deletion vlfm/policy/utils/pointnav_policy.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Any, Dict, Tuple, Union

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2 changes: 1 addition & 1 deletion vlfm/reality/bdsw_nav_env.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import numpy as np
import torch
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2 changes: 1 addition & 1 deletion vlfm/reality/objectnav_env.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import os
import time
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2 changes: 1 addition & 1 deletion vlfm/reality/pointnav_env.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import time
from typing import Any, Dict, Optional, Tuple, Union
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2 changes: 1 addition & 1 deletion vlfm/reality/robots/base_robot.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Dict, List, Tuple

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2 changes: 1 addition & 1 deletion vlfm/reality/robots/bdsw_robot.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Any, Dict, List, Tuple

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2 changes: 1 addition & 1 deletion vlfm/reality/robots/camera_ids.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.


class SpotCamIds:
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2 changes: 1 addition & 1 deletion vlfm/reality/run_bdsw_objnav_env.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import time

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2 changes: 1 addition & 1 deletion vlfm/run.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import os

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2 changes: 1 addition & 1 deletion vlfm/semexp_env/eval.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import os
import time
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2 changes: 1 addition & 1 deletion vlfm/semexp_env/objnav_gibson_vlfm.yaml
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

ENVIRONMENT:
MAX_EPISODE_STEPS: 500
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2 changes: 1 addition & 1 deletion vlfm/utils/episode_stats_logger.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import os
from typing import Any, Dict
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2 changes: 1 addition & 1 deletion vlfm/utils/generate_dummy_policy.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import torch

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2 changes: 1 addition & 1 deletion vlfm/utils/geometry_utils.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import math
from typing import Tuple
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2 changes: 1 addition & 1 deletion vlfm/utils/habitat_visualizer.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Any, Dict, List, Optional, Tuple

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2 changes: 1 addition & 1 deletion vlfm/utils/img_utils.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import List, Tuple, Union

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2 changes: 1 addition & 1 deletion vlfm/utils/log_saver.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import json
import os
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2 changes: 1 addition & 1 deletion vlfm/utils/visualization.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import List

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2 changes: 1 addition & 1 deletion vlfm/utils/vlfm_trainer.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

import os
from collections import defaultdict
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2 changes: 1 addition & 1 deletion vlfm/vlm/__init__.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
2 changes: 1 addition & 1 deletion vlfm/vlm/blip2.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Any, Optional

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2 changes: 1 addition & 1 deletion vlfm/vlm/blip2itm.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

from typing import Any, Optional

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2 changes: 1 addition & 1 deletion vlfm/vlm/coco_classes.py
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# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.

COCO_CLASSES = [
"person",
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