search

dora-rs / dora

DORA (Dataflow-Oriented Robotic Architecture) is middleware designed to streamline and simplify the creation of AI-based robotic applications. It offers low latency, composable, and distributed dataflow capabilities. Applications are modeled as directed graphs, also referred to as pipelines.
https://dora-rs.ai
Apache License 2.0
1.59k stars 96 forks source link

Dora-RS Autonomous System seems have some issue to deal the scenario in CARLA. #660

Open caixxuan opened 2 months ago

caixxuan commented 2 months ago

Describe the bug A clear and concise description of what the bug is.

To Reproduce Steps to reproduce the behavior:

  1. Dora start daemon: dora up
  2. Start a new dataflow: dora start dataflow.yaml
  3. Stop dataflow: dora stop
  4. Destroy dataflow: dora destroy

Expected behavior A clear and concise description of what you expected to happen.

Screenshots or Video If applicable, add screenshots to help explain your problem.

Environments (please complete the following information):

Additional context Add any other context about the problem here.

We have discovered some capability deficiencies in DORA. DORA seems to have difficulty handling some scenes in CARLA and often experiences behaviors such as collisions, permanent parking, and lane departure. We would like to confirm with the author whether these defects are known to exist.

https://caixxuan.github.io/Text2Scenario.GitHub.io/

haixuanTao commented 2 months ago

Hi! Wow, the paper looks incredible!

Indeed, we haven't really kept up the codebase for carla in a bit. And the autonomous capabilities for dora within Carla were good but still lacked a lot of functionality to be very reliable, as you mentioned.

heyong4725 commented 2 months ago

@caixxuan you and your team's work is very interesting. The Dora-RS, CARLA original authors will be presenting their work at GOSIM Beijing conference and workshop: https://china2024.gosim.org/ on Oct 17-18. Please register and attend the conference to engage with authors directly.

Also your team may join the GOSIM embodied AI hackathon, which are based on Dora-RS and fine tuned VLA models thru llama-factory open source project.

caixxuan commented 2 months ago

You have done great work. Dora-RS is very meaningful for autonomous driving, and we will further study and test it. GOSIM is a very interesting conference and we are interested in learning about it.