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 <h1 style="text-align: center;">Fast Traversability Estimation for Wild Visual Navigation</h1>
 
 <p align="center">
-  <a href="#citation">Citation</a> •
   <a href="#instalation">Installation</a> •
   <a href="#overview">Overview</a> •
   <a href="#experiments">Experiments</a> •
-  <a href="#development">Development</a>
+  <a href="#development">Development</a> •
+  <a href="#citation">Citation</a>
 
   ![Formatting](https://github.com/leggedrobotics/wild_visual_navigation/actions/workflows/formatting.yml/badge.svg)
 </p>
 
 ![Overview](./assets/drawings/header.jpg)
 
-<img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
-
-## Citation
-```
-@INPROCEEDINGS{frey23fast, 
-  AUTHOR    = {Jonas, Frey and Matias, Mattamala and Nived, Chebrolu and Cesar, Cadena and Maurice, Fallon and Marco, Hutter}, 
-  TITLE     = {\href{https://arxiv.org/abs/2305.08510}{Fast Traversability Estimation for Wild Visual Navigation}}, 
-  BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
-  YEAR      = {2023}, 
-  ADDRESS   = {Daegu, Republic of Korea}, 
-  MONTH     = {July}, 
-  DOI       = {10.15607/RSS.2023.XIX.054} 
-} 
-```
-
-If you are also building up on the STEGO integration or using the pre-trained models for a comparision please cite: 
-```
-@INPROCEEDINGS{mattamala24wild, 
-  AUTHOR    = {Mattamala, Matias and Jonas, Frey and Piotr Libera and Chebrolu, Nived and Georg Martius and Cadena, Cesar and Hutter, Marco and Fallon, Maurice}, 
-  TITLE     = {{Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision}}, 
-  BOOKTITLE = {under review for Autonomous Robots}, 
-  YEAR      = {2024}
-} 
-```
-
-If you are using the elevation_mapping integration
-```
-@INPROCEEDINGS{erni23mem,
-  AUTHOR={Erni, Gian and Frey, Jonas and Miki, Takahiro and Mattamala, Matias and Hutter, Marco},
-  TITLE={\href{https://arxiv.org/abs/2309.16818}{MEM: Multi-Modal Elevation Mapping for Robotics and Learning}}, 
-  BOOKTITLE={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
-  YEAR={2023},
-  PAGES={11011-11018},
-  DOI={10.1109/IROS55552.2023.10342108}
-}
-```
-
-Checkout out also our other works.
 
 <img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
 
 ## Installation
 
-1. Clone the WVN and our STEGO reimplementation.
+### Minimal
+Clone the WVN and our STEGO reimplementation.
 ```shell
 mkdir ~/git && cd ~/git 
 git clone [email protected]:leggedrobotics/wild_visual_navigation.git
 git clone [email protected]:leggedrobotics/self_supervised_segmentation.git
 ```
 
-2. Install the virtual environment.
+(Recommended) Install the virtual environment.
 ```shell
-cd ~/git/wild_visual_navigation
-# TODO
+mkdir ~/.venv
+python -m venv ~/venv/wvn
+source ~/venv/wvn/bin/activate
 ```
 
-3. Install the wild_visual_navigation package.
+Install the wild_visual_navigation package.
 ```shell
 cd ~/git
 pip3 install -e ./wild_visual_navigation
 ```
 
-4. [Optionally] Configure custom paths 
-Set your custom global paths by defining the ENV_WORKSTATION_NAME and exporting the variable in your `~/.bashrc`.
-
-  ```shell
-  export ENV_WORKSTATION_NAME=your_workstation_name
-  ```  
-The paths can be specified by modifying `wild_visual_navigation/wild_visual_navigation/cfg/gloabl_params.py`. 
-Add your desired global paths. 
-Per default, all results are stored in `wild_visual_navigation/results`.
-
-
-
 <img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
 
 ## Overview
-![Overview](./assets/drawings/software_overview.jpg)
-What we provide:
+
+### Repository Structure
+```
+📦wild_visual_navigation  
+ ┣ 📂assets
+     ┣ 📂demo_data                            # Example images
+        ┣ 🖼 example_images.png
+        ┗ ....
+     ┗ 📂checkpoints                          # Pre-trained model checkpoints
+        ┣ 📜 mountain_bike_trail_v2.pt
+        ┗ ....
+ ┣ 📂docker                                   # Quick start docker container
+ ┣ 📂results   
+ ┣ 📂test   
+ ┣ 📂wild_visual_navigation                   # Core implementation of WVN
+ ┣ 📂wild_visual_navigation_anymal            # ROS1 ANYmal helper package 
+ ┣ 📂wild_visual_navigation_jackal            # ROS1 Jackal simulation example
+ ┣ 📂wild_visual_navigation_msgs              # ROS1 message definitions
+ ┣ 📂wild_visual_navigation_ros               # ROS1 nodes for running WVN 
+    ┗ 📂scripts                               
+       ┗ 📜 wvn_feature_extractor_node.py     
+       ┗ 📜 wvn_learning_node.py    
+ ┗ 📜 quick_start.py                          # Inferencing demo_data from pre-trained checkpoints
+```
+### Features
 - Learning and Feature Extraction Nodes integrated in ROS1
-- Gazebo Test Simulation Envrionment
+- Gazebo Test Simulation Environment
 - Example ROSbags
 - Pre-trained models with minimalistic inference script (can be used as a easy baseline)
 - Integration into elevation_mapping_cupy
@@ -246,3 +221,42 @@ rosrun procman_ros sheriff -l ~/git/wild_visual_navigation/wild_visual_navigatio
 ```shell
 rosbag_play --tf --sem --flp --wvn  mission/*.bag
 ```
+
+<img align="right" width="40" height="40" src="https://github.com/leggedrobotics/wild_visual_navigation/blob/main/assets/images/dino.png" alt="Dino"> 
+
+## Citation
+```
+@INPROCEEDINGS{frey23fast, 
+  AUTHOR    = {Jonas, Frey and Matias, Mattamala and Nived, Chebrolu and Cesar, Cadena and Maurice, Fallon and Marco, Hutter}, 
+  TITLE     = {\href{https://arxiv.org/abs/2305.08510}{Fast Traversability Estimation for Wild Visual Navigation}}, 
+  BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
+  YEAR      = {2023}, 
+  ADDRESS   = {Daegu, Republic of Korea}, 
+  MONTH     = {July}, 
+  DOI       = {10.15607/RSS.2023.XIX.054} 
+} 
+```
+
+If you are also building up on the STEGO integration or using the pre-trained models for a comparision please cite: 
+```
+@INPROCEEDINGS{mattamala24wild, 
+  AUTHOR    = {Mattamala, Matias and Jonas, Frey and Piotr Libera and Chebrolu, Nived and Georg Martius and Cadena, Cesar and Hutter, Marco and Fallon, Maurice}, 
+  TITLE     = {{Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision}}, 
+  BOOKTITLE = {under review for Autonomous Robots}, 
+  YEAR      = {2024}
+} 
+```
+
+If you are using the elevation_mapping integration
+```
+@INPROCEEDINGS{erni23mem,
+  AUTHOR={Erni, Gian and Frey, Jonas and Miki, Takahiro and Mattamala, Matias and Hutter, Marco},
+  TITLE={\href{https://arxiv.org/abs/2309.16818}{MEM: Multi-Modal Elevation Mapping for Robotics and Learning}}, 
+  BOOKTITLE={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
+  YEAR={2023},
+  PAGES={11011-11018},
+  DOI={10.1109/IROS55552.2023.10342108}
+}
+```
+
+