diff --git a/campus-bot/sidewalk-segmentation/sidewalk_segmentation_model/config.json b/campus-bot/sidewalk-segmentation/sidewalk_segmentation_model/config.json
new file mode 100644
index 0000000..2141631
--- /dev/null
+++ b/campus-bot/sidewalk-segmentation/sidewalk_segmentation_model/config.json
@@ -0,0 +1,144 @@
+{
+  "_name_or_path": "nvidia/mit-b0",
+  "architectures": [
+    "SegformerForSemanticSegmentation"
+  ],
+  "attention_probs_dropout_prob": 0.0,
+  "classifier_dropout_prob": 0.1,
+  "decoder_hidden_size": 256,
+  "depths": [
+    2,
+    2,
+    2,
+    2
+  ],
+  "downsampling_rates": [
+    1,
+    4,
+    8,
+    16
+  ],
+  "drop_path_rate": 0.1,
+  "hidden_act": "gelu",
+  "hidden_dropout_prob": 0.0,
+  "hidden_sizes": [
+    32,
+    64,
+    160,
+    256
+  ],
+  "id2label": {
+    "0": "unlabeled",
+    "1": "flat-road",
+    "2": "flat-sidewalk",
+    "3": "flat-crosswalk",
+    "4": "flat-cyclinglane",
+    "5": "flat-parkingdriveway",
+    "6": "flat-railtrack",
+    "7": "flat-curb",
+    "8": "human-person",
+    "9": "human-rider",
+    "10": "vehicle-car",
+    "11": "vehicle-truck",
+    "12": "vehicle-bus",
+    "13": "vehicle-tramtrain",
+    "14": "vehicle-motorcycle",
+    "15": "vehicle-bicycle",
+    "16": "vehicle-caravan",
+    "17": "vehicle-cartrailer",
+    "18": "construction-building",
+    "19": "construction-door",
+    "20": "construction-wall",
+    "21": "construction-fenceguardrail",
+    "22": "construction-bridge",
+    "23": "construction-tunnel",
+    "24": "construction-stairs",
+    "25": "object-pole",
+    "26": "object-trafficsign",
+    "27": "object-trafficlight",
+    "28": "nature-vegetation",
+    "29": "nature-terrain",
+    "30": "sky",
+    "31": "void-ground",
+    "32": "void-dynamic",
+    "33": "void-static",
+    "34": "void-unclear"
+  },
+  "image_size": 224,
+  "initializer_range": 0.02,
+  "label2id": {
+    "construction-bridge": 22,
+    "construction-building": 18,
+    "construction-door": 19,
+    "construction-fenceguardrail": 21,
+    "construction-stairs": 24,
+    "construction-tunnel": 23,
+    "construction-wall": 20,
+    "flat-crosswalk": 3,
+    "flat-curb": 7,
+    "flat-cyclinglane": 4,
+    "flat-parkingdriveway": 5,
+    "flat-railtrack": 6,
+    "flat-road": 1,
+    "flat-sidewalk": 2,
+    "human-person": 8,
+    "human-rider": 9,
+    "nature-terrain": 29,
+    "nature-vegetation": 28,
+    "object-pole": 25,
+    "object-trafficlight": 27,
+    "object-trafficsign": 26,
+    "sky": 30,
+    "unlabeled": 0,
+    "vehicle-bicycle": 15,
+    "vehicle-bus": 12,
+    "vehicle-car": 10,
+    "vehicle-caravan": 16,
+    "vehicle-cartrailer": 17,
+    "vehicle-motorcycle": 14,
+    "vehicle-tramtrain": 13,
+    "vehicle-truck": 11,
+    "void-dynamic": 32,
+    "void-ground": 31,
+    "void-static": 33,
+    "void-unclear": 34
+  },
+  "layer_norm_eps": 1e-06,
+  "mlp_ratios": [
+    4,
+    4,
+    4,
+    4
+  ],
+  "model_type": "segformer",
+  "num_attention_heads": [
+    1,
+    2,
+    5,
+    8
+  ],
+  "num_channels": 3,
+  "num_encoder_blocks": 4,
+  "patch_sizes": [
+    7,
+    3,
+    3,
+    3
+  ],
+  "reshape_last_stage": true,
+  "semantic_loss_ignore_index": 255,
+  "sr_ratios": [
+    8,
+    4,
+    2,
+    1
+  ],
+  "strides": [
+    4,
+    2,
+    2,
+    2
+  ],
+  "torch_dtype": "float32",
+  "transformers_version": "4.47.1"
+}
diff --git a/campus-bot/sidewalk-segmentation/sidewalk_segmentation_model/model.safetensors b/campus-bot/sidewalk-segmentation/sidewalk_segmentation_model/model.safetensors
new file mode 100644
index 0000000..bf0266f
Binary files /dev/null and b/campus-bot/sidewalk-segmentation/sidewalk_segmentation_model/model.safetensors differ
diff --git a/campus-bot/sidewalk-segmentation/sidewalk_segmentation_model/preprocessor_config.json b/campus-bot/sidewalk-segmentation/sidewalk_segmentation_model/preprocessor_config.json
new file mode 100644
index 0000000..51e9e7c
--- /dev/null
+++ b/campus-bot/sidewalk-segmentation/sidewalk_segmentation_model/preprocessor_config.json
@@ -0,0 +1,23 @@
+{
+  "do_normalize": true,
+  "do_reduce_labels": true,
+  "do_rescale": true,
+  "do_resize": true,
+  "image_mean": [
+    0.485,
+    0.456,
+    0.406
+  ],
+  "image_processor_type": "SegformerImageProcessor",
+  "image_std": [
+    0.229,
+    0.224,
+    0.225
+  ],
+  "resample": 2,
+  "rescale_factor": 0.00392156862745098,
+  "size": {
+    "height": 512,
+    "width": 512
+  }
+}