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new file mode 100644
index 0000000..fff9ddd
--- /dev/null
+++ b/.gitignore
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+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
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+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
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+.dmypy.json
+dmypy.json
+
+# Pyre type checker
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+
+# Claude Code settings and state
+.claude/
+.claude/*
+
+# Testing artifacts
+.pytest_cache/
+.coverage
+htmlcov/
+coverage.xml
+test-results/
+test-output/
+
+# IDE and editor files
+.vscode/
+.idea/
+*.swp
+*.swo
+*~
+.DS_Store
+
+# OS generated files
+Thumbs.db
+ehthumbs.db
+
+# TensorFlow/Keras model files (optional - uncomment if models should not be tracked)
+# *.h5
+# *.hdf5
+# *.pb
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+
+# TensorRT engine files (optional - uncomment if engines should not be tracked)  
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+# *.engine
+
+# CUDA compilation cache
+.nv_fatb
+
+# ROS specific
+.catkin_workspace
+build/
+devel/
+
+# Temporary files
+*.tmp
+*.temp
+temp/
+tmp/
+
+# Log files
+*.log
+logs/
+
+# Backup files
+*.bak
+*.backup
\ No newline at end of file
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+    {file = "tomli-2.2.1-py3-none-any.whl", hash = "sha256:cb55c73c5f4408779d0cf3eef9f762b9c9f147a77de7b258bef0a5628adc85cc"},
+    {file = "tomli-2.2.1.tar.gz", hash = "sha256:cd45e1dc79c835ce60f7404ec8119f2eb06d38b1deba146f07ced3bbc44505ff"},
+]
+
+[[package]]
+name = "typing-extensions"
+version = "4.13.2"
+description = "Backported and Experimental Type Hints for Python 3.8+"
+optional = false
+python-versions = ">=3.8"
+groups = ["dev"]
+markers = "python_version < \"3.11\""
+files = [
+    {file = "typing_extensions-4.13.2-py3-none-any.whl", hash = "sha256:a439e7c04b49fec3e5d3e2beaa21755cadbbdc391694e28ccdd36ca4a1408f8c"},
+    {file = "typing_extensions-4.13.2.tar.gz", hash = "sha256:e6c81219bd689f51865d9e372991c540bda33a0379d5573cddb9a3a23f7caaef"},
+]
+
+[[package]]
+name = "zipp"
+version = "3.20.2"
+description = "Backport of pathlib-compatible object wrapper for zip files"
+optional = false
+python-versions = ">=3.8"
+groups = ["main"]
+markers = "python_version < \"3.10\""
+files = [
+    {file = "zipp-3.20.2-py3-none-any.whl", hash = "sha256:a817ac80d6cf4b23bf7f2828b7cabf326f15a001bea8b1f9b49631780ba28350"},
+    {file = "zipp-3.20.2.tar.gz", hash = "sha256:bc9eb26f4506fda01b81bcde0ca78103b6e62f991b381fec825435c836edbc29"},
+]
+
+[package.extras]
+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1) ; sys_platform != \"cygwin\""]
+cover = ["pytest-cov"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+enabler = ["pytest-enabler (>=2.2)"]
+test = ["big-O", "importlib-resources ; python_version < \"3.9\"", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-ignore-flaky"]
+type = ["pytest-mypy"]
+
+[metadata]
+lock-version = "2.1"
+python-versions = "^3.8"
+content-hash = "af7520a94f72d6e4ed31ab049560e36f391d0d2d37c866370b8e69148e7a837e"
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..1f5da60
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,86 @@
+[tool.poetry]
+name = "oracle"
+version = "0.1.0"
+description = "ORACLE - Obstacle-aware Robot navigation using Active Learning with Exploration"
+authors = ["Your Name <your.email@example.com>"]
+readme = "README.md"
+package-mode = false
+
+[tool.poetry.dependencies]
+python = "^3.8"
+numpy = "*"
+matplotlib = "*"
+scipy = "*"
+
+[tool.poetry.group.dev.dependencies]
+pytest = "^7.4.0"
+pytest-cov = "^4.1.0"
+pytest-mock = "^3.11.0"
+
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"
+
+[tool.pytest.ini_options]
+minversion = "7.0"
+addopts = [
+    "-ra",
+    "--strict-markers",
+    "--strict-config",
+    "--cov=.",
+    "--cov-report=term-missing",
+    "--cov-report=html",
+    "--cov-report=xml",
+]
+testpaths = [
+    "tests",
+]
+markers = [
+    "unit: marks tests as unit tests",
+    "integration: marks tests as integration tests", 
+    "slow: marks tests as slow (deselect with '-m \"not slow\"')",
+]
+python_files = ["test_*.py", "*_test.py"]
+python_classes = ["Test*"]
+python_functions = ["test_*"]
+
+[tool.coverage.run]
+source = ["."]
+omit = [
+    "*/tests/*",
+    "*/test_*",
+    "*/__pycache__/*",
+    "*/.*",
+    "setup.py",
+    "*/venv/*",
+    "*/env/*",
+    "*/build/*",
+    "*/dist/*",
+    "*/model_weights/*",
+    "*/waypoints/*",
+    "*/.pytest_cache/*",
+    "*/htmlcov/*",
+]
+
+[tool.coverage.report]
+exclude_lines = [
+    "pragma: no cover",
+    "def __repr__",
+    "if self.debug:",
+    "if settings.DEBUG",
+    "raise AssertionError",
+    "raise NotImplementedError",
+    "if 0:",
+    "if __name__ == .__main__.:",
+    "class .*\\bProtocol\\):",
+    "@(abc\\.)?abstractmethod",
+]
+fail_under = 80
+show_missing = true
+
+[tool.coverage.html]
+directory = "htmlcov"
+
+[tool.coverage.xml]
+output = "coverage.xml"
\ No newline at end of file
diff --git a/tests/__init__.py b/tests/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/conftest.py b/tests/conftest.py
new file mode 100644
index 0000000..92cc9c5
--- /dev/null
+++ b/tests/conftest.py
@@ -0,0 +1,174 @@
+"""Shared pytest fixtures for the ORACLE project."""
+
+import os
+import tempfile
+import shutil
+from pathlib import Path
+from unittest.mock import Mock, patch
+import pytest
+import numpy as np
+
+
+@pytest.fixture
+def temp_dir():
+    """Create a temporary directory for tests."""
+    temp_path = tempfile.mkdtemp()
+    yield Path(temp_path)
+    shutil.rmtree(temp_path)
+
+
+@pytest.fixture
+def temp_file():
+    """Create a temporary file for tests."""
+    fd, temp_path = tempfile.mkstemp()
+    os.close(fd)
+    yield Path(temp_path)
+    if os.path.exists(temp_path):
+        os.unlink(temp_path)
+
+
+@pytest.fixture
+def sample_config():
+    """Provide a sample configuration dictionary."""
+    return {
+        "network_type": "oracle",
+        "model_path": "/workspace/model_weights/test_model.hdf5",
+        "tensorrt_path": "/workspace/model_weights/test_engine.trt",
+        "use_tensorrt": False,
+        "batch_size": 32,
+        "sequence_length": 10,
+        "input_dim": 64,
+        "state_dim": 12,
+        "collision_threshold": 0.5,
+        "info_gain_threshold": 0.1,
+        "max_velocity": 3.5,
+        "environment": "gazebo_corridor"
+    }
+
+
+@pytest.fixture
+def mock_ros_node():
+    """Mock ROS node for testing."""
+    with patch('rospy.init_node'), \
+         patch('rospy.Publisher'), \
+         patch('rospy.Subscriber'), \
+         patch('rospy.Rate'), \
+         patch('rospy.is_shutdown', return_value=False):
+        yield
+
+
+@pytest.fixture
+def sample_depth_image():
+    """Generate a sample depth image for testing."""
+    return np.random.rand(480, 640).astype(np.float32)
+
+
+@pytest.fixture
+def sample_state_vector():
+    """Generate a sample state vector for testing."""
+    return np.random.rand(12).astype(np.float32)
+
+
+@pytest.fixture
+def sample_waypoints():
+    """Generate sample waypoints for testing."""
+    return [
+        [1.0, 2.0, 3.0],
+        [4.0, 5.0, 6.0],
+        [7.0, 8.0, 9.0]
+    ]
+
+
+@pytest.fixture
+def mock_tensorflow():
+    """Mock TensorFlow for testing without GPU dependencies."""
+    mock_tf = Mock()
+    mock_model = Mock()
+    mock_model.predict.return_value = np.random.rand(1, 1)
+    mock_tf.keras.models.load_model.return_value = mock_model
+    
+    with patch.dict('sys.modules', {'tensorflow': mock_tf}):
+        yield mock_tf
+
+
+@pytest.fixture
+def mock_tensorrt():
+    """Mock TensorRT for testing without TensorRT dependencies."""
+    mock_trt = Mock()
+    mock_engine = Mock()
+    mock_context = Mock()
+    mock_context.execute_v2.return_value = True
+    mock_engine.create_execution_context.return_value = mock_context
+    
+    with patch.dict('sys.modules', {'tensorrt': mock_trt, 'pycuda': Mock()}):
+        yield mock_trt
+
+
+@pytest.fixture
+def mock_opencv():
+    """Mock OpenCV for testing."""
+    mock_cv2 = Mock()
+    mock_cv2.imread.return_value = np.random.rand(480, 640, 3)
+    mock_cv2.imwrite.return_value = True
+    
+    with patch.dict('sys.modules', {'cv2': mock_cv2}):
+        yield mock_cv2
+
+
+@pytest.fixture
+def mock_config_loader():
+    """Mock configuration loading."""
+    def _load_config(config_name):
+        return {
+            "config_name": config_name,
+            "model_path": f"/workspace/model_weights/{config_name}/saved-model.hdf5",
+            "use_tensorrt": False,
+            "batch_size": 1
+        }
+    
+    with patch('config.load_config', side_effect=_load_config):
+        yield
+
+
+@pytest.fixture
+def captured_logs(caplog):
+    """Capture log output with specific log level."""
+    import logging
+    caplog.set_level(logging.INFO)
+    return caplog
+
+
+@pytest.fixture
+def mock_file_system():
+    """Mock file system operations."""
+    with patch('os.path.exists', return_value=True), \
+         patch('os.path.isfile', return_value=True), \
+         patch('os.path.isdir', return_value=True):
+        yield
+
+
+@pytest.fixture
+def environment_variables():
+    """Set up environment variables for testing."""
+    old_env = os.environ.copy()
+    test_env = {
+        'CUDA_VISIBLE_DEVICES': '0',
+        'TF_CPP_MIN_LOG_LEVEL': '2',
+        'PYTHONPATH': '/workspace'
+    }
+    os.environ.update(test_env)
+    yield test_env
+    os.environ.clear()
+    os.environ.update(old_env)
+
+
+@pytest.fixture(autouse=True)
+def clean_imports():
+    """Clean up imported modules after each test to prevent state leakage."""
+    import sys
+    modules_before = set(sys.modules.keys())
+    yield
+    modules_after = set(sys.modules.keys())
+    for module in modules_after - modules_before:
+        if module.startswith(('inference', 'train', 'evaluate', 'optimize', 'process')):
+            sys.modules.pop(module, None)
\ No newline at end of file
diff --git a/tests/integration/__init__.py b/tests/integration/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/test_infrastructure_validation.py b/tests/test_infrastructure_validation.py
new file mode 100644
index 0000000..d081f9e
--- /dev/null
+++ b/tests/test_infrastructure_validation.py
@@ -0,0 +1,139 @@
+"""Validation tests to verify testing infrastructure is working correctly."""
+
+import pytest
+import numpy as np
+from pathlib import Path
+
+
+class TestInfrastructureValidation:
+    """Test suite to validate testing infrastructure setup."""
+
+    def test_pytest_working(self):
+        """Verify pytest is working correctly."""
+        assert True
+        assert 1 + 1 == 2
+
+    def test_fixtures_available(self, temp_dir, sample_config):
+        """Verify that custom fixtures are working."""
+        assert isinstance(temp_dir, Path)
+        assert temp_dir.exists()
+        assert isinstance(sample_config, dict)
+        assert "network_type" in sample_config
+
+    def test_numpy_available(self, sample_depth_image, sample_state_vector):
+        """Verify numpy is available and fixtures work."""
+        assert isinstance(sample_depth_image, np.ndarray)
+        assert isinstance(sample_state_vector, np.ndarray)
+        assert sample_depth_image.shape == (480, 640)
+        assert sample_state_vector.shape == (12,)
+
+    @pytest.mark.unit
+    def test_unit_marker(self):
+        """Verify unit test marker is working."""
+        assert True
+
+    @pytest.mark.integration  
+    def test_integration_marker(self):
+        """Verify integration test marker is working."""
+        assert True
+
+    @pytest.mark.slow
+    def test_slow_marker(self):
+        """Verify slow test marker is working."""
+        import time
+        time.sleep(0.1)  # Minimal delay to simulate slow test
+        assert True
+
+    def test_temp_file_fixture(self, temp_file):
+        """Verify temp file fixture works."""
+        assert isinstance(temp_file, Path)
+        
+    def test_sample_waypoints_fixture(self, sample_waypoints):
+        """Verify sample waypoints fixture."""
+        assert isinstance(sample_waypoints, list)
+        assert len(sample_waypoints) == 3
+        assert all(len(point) == 3 for point in sample_waypoints)
+
+    def test_mock_tensorflow_fixture(self, mock_tensorflow):
+        """Verify TensorFlow mock fixture."""
+        assert hasattr(mock_tensorflow, 'keras')
+        assert hasattr(mock_tensorflow.keras, 'models')
+
+    def test_environment_variables_fixture(self, environment_variables):
+        """Verify environment variables fixture."""
+        assert isinstance(environment_variables, dict)
+        assert 'CUDA_VISIBLE_DEVICES' in environment_variables
+
+    def test_captured_logs_fixture(self, captured_logs):
+        """Verify log capturing fixture."""
+        import logging
+        logger = logging.getLogger(__name__)
+        logger.info("Test log message")
+        assert "Test log message" in captured_logs.text
+
+    def test_project_structure_exists(self):
+        """Verify core project files exist."""
+        workspace = Path("/workspace")
+        assert (workspace / "config.py").exists()
+        assert (workspace / "utilities.py").exists()
+        assert (workspace / "inference").exists()
+        assert (workspace / "train").exists()
+        assert (workspace / "evaluate").exists()
+
+    def test_pytest_config_markers(self):
+        """Verify pytest markers are properly configured."""
+        import pytest
+        
+        # Check if our custom markers are recognized
+        # This prevents pytest from showing warnings about unknown markers
+        assert hasattr(pytest.mark, 'unit')
+        assert hasattr(pytest.mark, 'integration')
+        assert hasattr(pytest.mark, 'slow')
+
+    def test_coverage_configuration(self):
+        """Verify coverage configuration is accessible."""
+        # This test ensures the coverage tool can import the project modules
+        import sys
+        workspace = Path("/workspace")
+        
+        if str(workspace) not in sys.path:
+            sys.path.insert(0, str(workspace))
+        
+        # Test that we can import core modules without errors
+        try:
+            import utilities
+            assert hasattr(utilities, '__file__')
+        except ImportError as e:
+            pytest.skip(f"Core module not importable: {e}")
+
+    def test_math_operations(self):
+        """Test basic mathematical operations for coverage reporting."""
+        def add(a, b):
+            return a + b
+        
+        def multiply(a, b):
+            return a * b
+        
+        assert add(2, 3) == 5
+        assert multiply(4, 5) == 20
+        assert add(-1, 1) == 0
+
+    def test_exception_handling(self):
+        """Test exception handling works correctly."""
+        with pytest.raises(ValueError):
+            raise ValueError("Test exception")
+        
+        with pytest.raises(ZeroDivisionError):
+            1 / 0
+
+    def test_parametrized_test(self, sample_config):
+        """Test parametrized testing capabilities."""
+        test_cases = [
+            ("oracle", True),
+            ("sevae", True),
+            ("naive", True)
+        ]
+        
+        for network_type, expected in test_cases:
+            sample_config["network_type"] = network_type
+            assert isinstance(sample_config["network_type"], str) == expected
\ No newline at end of file
diff --git a/tests/unit/__init__.py b/tests/unit/__init__.py
new file mode 100644
index 0000000..e69de29