Will the code of real-world deployment be released recently?

[Jctrp]

Hello! This is a wonderful job!
I'm trying to deploy the code to the real environment, but I have many doubts about how to convert the simulation environment configuration to the real-world configuration (maybe because I'm coming from a different research direction).
I noticed that the deployment guide is in your schedule, and I hope it can be released soon to give me some guidance 😊.

[Zager-Zhang]

Hello! Thanks for the feedback and for the kind words about the work.

You've highlighted the most critical steps for transitioning from a Habitat simulation to a real-world setup. We completely understand the need for guidance, especially if you're coming from a different research area.

The two main code adjustments needed are:

1. Action Conversion: Switching from the simulation's discrete, waypoint-based actions to generating a continuous trajectory for the physical robot.

2. Parallel Execution: Changing the sequential "act-then-sense" loop of the simulator so that sensing and decision-making run in parallel with the continuous trajectory in the real world for a smoother, faster operation.

The real-world code is currently being organized. We are prioritizing its release, along with the deployment guide mentioned, and will open-source it as quickly as possible.

Thanks for your patience!

[Jctrp]

Hi, thank you for your prompt reply!

I will keep a close eye on this work all the time :)

[Suhao07]

When will the code of real-world deployment be released? @Zager-Zhang

[Zager-Zhang]

We plan to open-source the planning and control algorithms required for real-world deployment around early December, accompanied by some documentation. Thank you for your attention! @Suhao07