v0.2.0

What's Changed

Documentation

• Added README with installation instructions

Code structure

• LeSTA became a standalone package (removed dependency on height_mapping)
• Reorganized into two main components:
  • C++ ROS package (lesta_ros)
  • Python training (pylesta)
• Introduced a more modular architecture with clear separation of:
  • feature extraction / label generation / model training / traversability estimation

Feature additions

• Changed dataset type from .csv type to .pcd
• Improved self-training with risk-aware pseudo-labeling
• Added model checkpointing and improved logging
• Added support for exporting to LibTorch format

Sample datasets

• Added sample datasets and checkpoints for rapid testing of the package

Bug fixes

• Fixed issues with feature extraction and label handling