beyondfrontiers/Beyond-Frontiers ? reverse-engineered prompt

Build me a Python project that can take a 3D scene and guide a robot to explore the parts that are still missing or poorly seen.

I want two main flows, one simple demo that runs on a single point cloud or a depth map and shows anomaly scores plus a suggested camera target for each suspicious area, and one exploration mode that loads a scene mesh, simulates a robot moving around, and saves the final path and colored point cloud. Make the demo easy to run from the command line with the example files already included, and let me start the exploration automatically or by pressing space. It should also show a big top view with the anomaly heatmap and a smaller robot camera view. If needed, look up current docs online for any missing setup details, but keep the project focused on getting this anomaly guided exploration working cleanly with the provided model weights and examples.