Demo for the navigation task

[TimeEscaper]

Dear authors,

Thank you very much for releasing the code of the great work! We are now trying to deploy your model for the mobile robot navigation task. We are using inference_pretrained.ipynb as a reference and trying to adapt it for the navigation demo, but facing some troubles with that. Can you please outline the steps that should be done for running your model in navigation mode?

Thank you in advance!

[HomerW]

To adapt the inference example from the notebook for navigation:

• Use the navigation head by passing head_name='nav' into sample_actions
• Use the omnimimic_gnm statistics to unnormalize the action by passing these into sample_actions
• The observation dictionary should contain a single key image_nav containing the image observation

However, note that the full trajectory inference example in the notebook doesn't actually handle the timestep pad mask correctly. To actually roll out the policy on a robot you can use the evaluation server here. This is how we evaluated on mobile navigation robots. This server has a function stack_and_pad that will correctly stack the history of observations and create a correct timestep padding mask. Hope this helps!