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CROSS navigation debug
Recorded Stretch navigation cases using CROSS, its VGGT navigation heads and a local robot adapter.
Both supervised runs were recorded on 2026-10-26 (Asia/Singapore) toward reference-map keyframe
1012, using the Record3D map 2026-10-22--15-48-58.
Cases
| Case | Main finding | RGB/depth pairs | VGGT passes | Details |
|---|---|---|---|---|
| 20261026_goal1012_02 | Measured-depth checks reject all local graph attachments during a head survey | 680 | 380 | Evidence, download and replay |
| 20261026_goal1012_03 | Transient false BEV occupancy triggers the added path guard; a separate braking handoff bug stops the survey | 500 | 240 | Evidence, download and replay |
| 20261026_goal1012_05 | False forward-left occupancy despite survey floor evidence; historical-reference lifting ablation; complete head survey followed by a separate depth-attachment stop | 749 | 376 | Evidence, download and replay |
Each case is self-contained, including original RGB/depth, odometry and image-time transforms, exact VGGT input tensors and numeric outputs, BEV replay, planner evidence, the reference map, recorded source and offline inspection tools. The case reports distinguish native CROSS behavior from the local adapter's checks. See each case's README for findings, limitations and reproduction commands.
Repository layout
cases/
20261026_goal1012_02/
README.md
archives/
code/
environment/
manifest.json
previews/
reports/
tools/
20261026_goal1012_03/
README.md
archives/
code/
environment/
manifest.json
previews/
reports/
tools/
post_run_fixes/ # later changes, explicitly separate from recorded source
20261026_goal1012_05/
README.md
archives/
code/
environment/
manifest.json
previews/
reports/
tools/
Archives always belong to their containing case. Archive/member SHA-256 hashes and extraction paths
are in each case's manifest.json. Cases 03 and 05 also include file-level SHA256SUMS.
The cases include identical reference-map/source archives so either can be downloaded independently.
Pretrained model weights are referenced by repository/revision/hash in the case provenance.
Download one case
from huggingface_hub import snapshot_download
case_id = "20261026_goal1012_05" # or "20261026_goal1012_02" / "20261026_goal1012_03"
snapshot_download(
repo_id="jizhuochen/CROSS_nav_debug",
repo_type="dataset",
allow_patterns=f"cases/{case_id}/**",
local_dir="CROSS_nav_debug",
)
Change into the downloaded case folder, then run its verifier/unpacker:
cd CROSS_nav_debug/cases/20261026_goal1012_05
python tools/unpack.py --output extracted
Case 02 needs approximately 3.5 GB for download plus 3.5 GB for extraction; case 03 needs approximately 2.3 GB for each; case 05 needs approximately 3.6 GB to download and 3.7 GB to extract. Replay and saved-output inspection need no robot or GPU.
Layout migration
The original case 02 files formerly at the repository root (archives/, code/, reports/, etc.)
now live under cases/20261026_goal1012_02/. Its formerly nested report directory is now simply
reports/ inside the case. Recorded payloads are unchanged. Historical revisions retain the old
paths; use the case folders and their current README instructions for new downloads.
Sharing copies have credentials and private machine-specific text removed. Numerical sensor data, transforms and model predictions are preserved. Source retains its included upstream licenses; no additional recording license is asserted here.
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