| --- |
| pretty_name: CROSS navigation debug cases |
| language: |
| - en |
| tags: |
| - robotics |
| - navigation |
| - vggt |
| - rgb-d |
| - odometry |
| - debugging |
| --- |
| |
| # CROSS navigation debug |
|
|
| Recorded Stretch navigation cases using CROSS, its VGGT navigation heads and a local robot adapter. |
| Supervised runs were recorded on **2026-10-26 and 2026-10-27 (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](cases/20261026_goal1012_02/README.md) | |
| | **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](cases/20261026_goal1012_03/README.md) | |
| | **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](cases/20261026_goal1012_05/README.md) | |
| | **20261027_goal1012_01** | False occupancy on currently measured clear floor; historical-view head/context controls; leftward goals independently explained by graph lookahead | 1,061 | 34 archived / 612 total | [Evidence, training notes and replay](cases_oct27/20261027_goal1012_01/README.md) | |
|
|
| Each case is self-contained, including original RGB/depth, odometry and image-time transforms, exact |
| VGGT input tensors and numeric outputs for its documented scope, 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. |
|
|
|
|
| The October 27 collection is under [`cases_oct27/`](cases_oct27/README.md), with the same self-contained |
| case layout. Its first case retains the full sensor/replay sequence and a focused raw-model window; |
| the distinction between source-run totals and uploaded model data is explicit in its manifest. |
|
|
| ## Repository layout |
|
|
| ```text |
| 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/ |
| ``` |
|
|
| ```text |
| cases_oct27/ |
| README.md |
| 20261027_goal1012_01/ # full sensor/replay sequence, focused raw-model window |
| README.md |
| training_notes.json |
| archives/ |
| code/ |
| environment/ |
| manifest.json |
| reports/ |
| tools/ |
| post_run_fixes/ |
| ``` |
|
|
| 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 |
|
|
| ```python |
| 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: |
|
|
| ```bash |
| 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. |
|
|
