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robodhruv / visualnav-transformer

Official code and checkpoint release for mobile robot foundation models: GNM, ViNT, and NoMaD.
http://general-navigation-models.github.io
MIT License
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Waypoint Visualization and FOV Adjustment Effects using NoMaD Model in CARLA #22

Open chungcode0218 opened 2 months ago

chungcode0218 commented 2 months ago

Hello,

I am currently working with the NoMaD model in the CARLA simulation environment and have encountered a couple of questions and issues that I hope you can help clarify.

Waypoint Visualization : I have generated some visualization graphs for waypoints while using the NoMaD model. However, I am uncertain about the accuracy of these visualizations. Could you provide some guidance to confirm if my visualizations are correct?(It feels like the starting point is very far from the car) Figure_1 Figure_2 RGB_COMPARE1-3 Additionally, I have noticed that in some cases, the waypoints seem to scatter randomly. Is this a common issue? Will it affect the performance of the navigation? RGB_COMPARE1-2

Field of View (FOV) Adjustment: In previous discussions, there was a mention that increasing the FOV might enhance navigation performance. I attempted to adjust the FOV from 90 to 120 to see its impact. After making this adjustment, the visualizations of the waypoints appeared somewhat unusual. Could this change in appearance be expected with a larger FOV? Additionally, could you confirm whether a larger FOV is indeed recommended for better navigation performance? fov120_2 fov120_1

Any insights or suggestions you could provide would be greatly appreciated.

Thank you for your support.

laozheng1 commented 3 weeks ago

How did you achieve this visualization? During my run, I found that these waypoints were normalized coordinates and my visualization was poor.

chungcode0218 commented 3 weeks ago

Hi~Do you have WeChat? Chinese is Ok? 我們可以討論一下

郑孙健 @.***>於 2024年6月12日 週三，下午5:13寫道：

How did you achieve this visualization? During my run, I found that these waypoints were normalized coordinates and my visualization was poor.

— Reply to this email directly, view it on GitHub https://github.com/robodhruv/visualnav-transformer/issues/22#issuecomment-2162513159, or unsubscribe https://github.com/notifications/unsubscribe-auth/BA5YUABU2O2IV4USPPIRINTZHAGKZAVCNFSM6AAAAABGGDV4NCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNRSGUYTGMJVHE . You are receiving this because you authored the thread.Message ID: @.***>

laozheng1 commented 3 weeks ago

Hi~Do you have WeChat? Chinese is Ok? 我們可以討論一下 郑孙健 @.>於 2024年6月12日 週三，下午5:13寫道： … How did you achieve this visualization? During my run, I found that these waypoints were normalized coordinates and my visualization was poor. — Reply to this email directly, view it on GitHub <#22 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/BA5YUABU2O2IV4USPPIRINTZHAGKZAVCNFSM6AAAAABGGDV4NCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNRSGUYTGMJVHE . You are receiving this because you authored the thread.Message ID: @.>

可以的，非常感谢。 我的微信是： szbl129

sugarlxn commented 3 weeks ago

我将该模型部署在服务器中，使用nomad进行路径预测，但是路径预测的效果不是很好，我可以加入讨论吗？

e2652276048aa5b6a5ba07ba4ec45d5

Hi~Do you have WeChat? Chinese is Ok? 我們可以討論一下 郑孙健 @.>於 2024年6月12日 週三，下午5:13寫道： … How did you achieve this visualization? During my run, I found that these waypoints were normalized coordinates and my visualization was poor. — Reply to this email directly, view it on GitHub <#22 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/BA5YUABU2O2IV4USPPIRINTZHAGKZAVCNFSM6AAAAABGGDV4NCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNRSGUYTGMJVHE . You are receiving this because you authored the thread.Message ID: @.>

laozheng1 commented 3 weeks ago

我将该模型部署在服务器中，使用nomad进行路径预测，但是路径预测的效果不是很好，我可以加入讨论吗？

e2652276048aa5b6a5ba07ba4ec45d5

Hi~Do you have WeChat? Chinese is Ok? 我們可以討論一下 郑孙健 @.**>於 2024年6月12日 週三，下午5:13寫道： … How did you achieve this visualization? During my run, I found that these waypoints were normalized coordinates and my visualization was poor. — Reply to this email directly, view it on GitHub <#22 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/BA5YUABU2O2IV4USPPIRINTZHAGKZAVCNFSM6AAAAABGGDV4NCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCNRSGUYTGMJVHE . You are receiving this because you authored the thread.Message ID: @.**>

当然可以，加我加我。或者我加你也行

kjctphr commented 2 days ago

Hi~ I am keen to know about how to generate the visualization graph, by any chance, can anyone share it to me? Greatly appreciate it. 你好，我也在路径显示上出了些问题，想向各位请教一下，方便加个微信吗？我是kjctphr。十分感激。