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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
610 stars 78 forks source link

NoMad on Carla #39

Closed reachpranjal closed 3 months ago

reachpranjal commented 3 months ago

Hi @robodhruv and @ajaysridhar0

I'm trying to deploy NoMad on Carla under closed-loop setting with provided checkpoint fine-tuned in the Carla distribution. However, it doesn't seem to be working well even for a straight run (no traffic). The normalized waypoints plot doesn't seem to be apt.

Providing the script. https://gist.github.com/reachpranjal/ca77e69c338dcbd4388cb441f5eb8f8d

ajaysridhar0 commented 3 months ago

I can't access the script. It might be because it's part of a private repo. Can you share it another way?

reachpranjal commented 3 months ago

Thanks for your reply. I managed to fix it. Data is the key :)