Release plan for real-world deployment code

[an1iu]

Hi authors,

Thanks for the great work and for releasing the code.

I noticed that the paper reports real-world deployment experiments on Unitree Go1 and Agilex Cobot Magic. I am interested in reproducing the real-world deployment part of LaViRA.

Could you please let me know whether the real-world deployment code will be released, and if there is an estimated timeline?

Thanks!

[carottX]

Thank you for your interest for our work!

We have released the real-world deployment code in the latest commit. You can find the implementation in the real_world_code directory, which contains separate subfolders for the two platforms (Unitree Go1 and Agilex Cobot Magic).

Detailed deployment instructions and environment setup for each platform are provided in the README.md file within its respective folder.

Hope this helps! Feel free to let us know if you encounter any issues during deployment.

[an1iu]

Thanks for your reply!

By the way, if I want to test 100 episodes with 20 workers, what kind of GPU resources would be required? I tried running the test with 20 workers on an H800, but it gets stuck for a long time before the API calls start.

[carottX]

Hi there,

We have tested this on both RTX 4090 and A800 servers. Each worker consumes about 3GB of VRAM, so a single H800 card should be more than enough for 20 workers.

Additionally, if your habitat-sim simulation starts up normally but gets stuck afterwards, it is highly likely stuck on loading bert-base-uncased (which is used by GroundingDINO). Please check your server's network connection to Hugging Face.

[an1iu]

Thanks for the clarification!

it was caused by bert-base-uncased being loaded from Hugging Face. After I downloaded bert-base-uncased offline and used the local copy, the problem was resolved.