diff --git a/coordination/task_assignment b/coordination/task_assignment
index 5586cb8..57e251b 160000
--- a/coordination/task_assignment
+++ b/coordination/task_assignment
@@ -1 +1 @@
-Subproject commit 5586cb84650f3b384305f074b4eb658afd8132bf
+Subproject commit 57e251bbc6d889743c0ce3f5b4552a68c0fdc0e4
diff --git a/sensing/object_detection_and_tracking/darknet_ros b/sensing/object_detection_and_tracking/darknet_ros
index 05a7d63..b5ae1e6 160000
--- a/sensing/object_detection_and_tracking/darknet_ros
+++ b/sensing/object_detection_and_tracking/darknet_ros
@@ -1 +1 @@
-Subproject commit 05a7d63026ae8bc9a83f0bf9c6ad35e39707fff6
+Subproject commit b5ae1e64a25dab8a19b6c49bb0b9417b5d1ff6de
diff --git a/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_mono_imu_config.yaml b/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_mono_imu_config.yaml
index 93ff06c..7028532 100644
--- a/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_mono_imu_config.yaml
+++ b/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_mono_imu_config.yaml
@@ -7,7 +7,7 @@ num_of_cam: 1
 
 imu_topic: "/iris_0/imu_gazebo"
 image0_topic: "/iris_0/stereo_camera/left/image_raw"
-output_path: "/home/robin/catkin_ws/vins_output"
+output_path: "~/catkin_ws/vins_output"
 
 cam0_calib: "cam0_pinhole_p1.yaml"
 image_width: 752
@@ -56,5 +56,5 @@ td: 0.0                             # initial value of time offset. unit: s. rea
 
 #loop closure parameters
 load_previous_pose_graph: 0        # load and reuse previous pose graph; load from 'pose_graph_save_path'
-pose_graph_save_path: "/home/robin/catkin_ws/vins_output/pose_graph/"  # save and load path
+pose_graph_save_path: "~/catkin_ws/vins_output/pose_graph/"  # save and load path
 save_image: 1                   # save image in pose graph for visualization prupose; you can close this function by setting 0 
diff --git a/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_config.yaml b/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_config.yaml
index adc9bd5..b3a6ec3 100644
--- a/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_config.yaml
+++ b/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_config.yaml
@@ -8,7 +8,7 @@ num_of_cam: 2
 imu_topic: "/iris_0/imu_stereo"
 image0_topic: "/iris_0/stereo_camera/left/image_raw"
 image1_topic: "/iris_0/stereo_camera/right/image_raw"
-output_path: "/home/robin/catkin_ws/vins_output"
+output_path: "~/catkin_ws/vins_output"
 
 cam0_calib: "cam0_pinhole_p1.yaml"
 cam1_calib: "cam1_pinhole_p1.yaml"
diff --git a/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml b/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml
index 00771d9..1f39c74 100644
--- a/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml
+++ b/sensing/slam/vio/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml
@@ -8,7 +8,7 @@ num_of_cam: 2
 imu_topic: "/iris_0/imu_gazebo"
 image0_topic: "/iris_0/stereo_camera/left/image_raw"
 image1_topic: "/iris_0/stereo_camera/right/image_raw"
-output_path: "/home/robin/catkin_ws/vins_output"
+output_path: "~/catkin_ws/vins_output"
 
 cam0_calib: "cam0_pinhole_p1.yaml"
 cam1_calib: "cam1_pinhole_p1.yaml"
@@ -69,5 +69,5 @@ td: 0.0                             # initial value of time offset. unit: s. rea
 
 #loop closure parameters
 load_previous_pose_graph: 0        # load and reuse previous pose graph; load from 'pose_graph_save_path'
-pose_graph_save_path: "/home/robin/catkin_ws/vins_output/pose_graph/"  # save and load path
+pose_graph_save_path: "~/catkin_ws/vins_output/pose_graph/"  # save and load path
 save_image: 1                   # save image in pose graph for visualization prupose; you can close this function by setting 0 
\ No newline at end of file
diff --git a/sensing/slam/vio/xtdrone_vins_run.sh b/sensing/slam/vio/xtdrone_vins_run.sh
index 54a806b..06239c4 100644
--- a/sensing/slam/vio/xtdrone_vins_run.sh
+++ b/sensing/slam/vio/xtdrone_vins_run.sh
@@ -1,2 +1,2 @@
-rosrun vins vins_node /home/robin/catkin_ws/src/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml &
+rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/xtdrone_sitl/px4_sitl_stereo_imu_config.yaml &
 roslaunch vins vins_rviz.launch
\ No newline at end of file