raven¶

RAVEN semantic aerial navigation (ICRA 2026) — the RayFronts open-set semantic ray-frontier map and behavior manager (voxel, ray, LVLM and frontier search) in a GPU sidecar container publishing global_plan toward a natural-language target, plus the raven_bridge plan/prompt relay on the robot


Repository	castacks/asm_raven
Type	`ros_package`
Maintainer	ajong@andrew.cmu.edu
License	BSD-3-Clause-Clear
Registered ref	`v0.1.1`
Declared compat	`>=0.21.0-dev.8 <0.22.0`
Registry entry	modules/raven.yaml

Install¶

From an AirStack checkout (AirStack Modules guide):

airstack module add https://github.com/castacks/asm_raven --version v0.1.1
airstack up

module add pins the module in modules.repos and syncs it into the gitignored modules/ overlay; airstack up automatically includes the generated compose override that mounts it into the containers.

Compatibility: declared vs verified¶

The range >=0.21.0-dev.8 <0.22.0 is DECLARED by the module author (copied from the module's module.yaml). The VERIFIED record — rows stamped exclusively by CI runs of the reusable module-system-tests workflow — lives in the registry's compat/ matrix (compat/raven.yaml once stamped). A compatibility claim that isn't CI-verified rots: trust the matrix, read the declaration as intent.

Documentation¶

Module README on GitHub @ v0.1.1
The module repo was not fetched when this page was generated — the links above go to GitHub at the registered ref (failure isolation: an unreachable module repo never fails the docs deploy).

Registered stacks using this module¶

full_raven

Registry notes¶

Wrapper (raven_bridge, sidecar Dockerfile, compose fragment, test_stack) is BSD-3-Clause-Clear; the vendored RayFronts fork (seungchan-kim/RayFronts, branch raven) keeps its own license — see the module's VENDORED.md. The sidecar is declared through the manifest's compose fragment (first module to bring its own container) and is built on first airstack up (~20 GB image). Consumed by trunk reference stack full_raven.