SINGER: An Onboard Generalist Vision-Language Navigation Policy for Drones

Installation

SINGER requires FiGS-Standalone as its base environment.

Prerequisites

• Docker with NVIDIA Container Toolkit
• FiGS-Standalone repository (for the base Docker image)

1) Clone repositories

git clone https://github.com/StanfordMSL/FiGS-Standalone.git
git clone https://github.com/StanfordMSL/SINGER.git

2) Build the FiGS base image (one-time setup)

cd FiGS-Standalone
docker-compose build

3) Run SINGER development environment

cd SINGER
docker-compose run singer

This will:

• Use the figs:latest base image
• Mount SINGER and FiGS-Standalone for editable development
• Auto-install packages on first run
• Persist installed packages across container restarts

Configuration

You can customize paths via environment variables or a .env file:

# Default values
FIGS_PATH=../FiGS-Standalone
DATA_PATH=/media/admin/data/StanfordMSL/nerf_data

Rebuilding

After changes to FiGS-Standalone's Dockerfile:

cd FiGS-Standalone
docker-compose build

# Clear SINGER's cached packages
cd ../SINGER
docker-compose down -v
docker-compose run singer