Cave is the last of three training Circuits before the finals in 2021
(if everything goes well). The environment is interesting of variable 3D
terrain and combination of huge and narrow openings.
Update: 9/5/2020 — mdnet0.64.64.13.4.relu.pth - [Msg] Total score: 3
release 2020-03-23 containing 3 Simple Cave worlds for testing. Yeah, I
could not resist to see it, and surely it was too early
But the simulation were re-triggered and we could see what the left and
right robot has seen during 5 minutes of simulated exploration:
If you are wondering what the robots are doing … well it is version ver59
used in Urban Circuit where the robots starts on optimized trajectory to
„enter the gate”, i.e. smarter way of turn and go straight for distance
defined by unique robot origin position. This is a bit which we will surely fix
BTW I did not realize that SubT Virtual moved not only to
GitHub, but also changed from Mercurial to
Git! At least some bits are easier now
with Cloudsim #339 — Malcom Stagg/Sodium 24 probably found the root cause
related to Tunnel and Urban Virtual simulator problems:
CloudSim uses WeaveNet to provide networking and network isolation to the
containers. This works as expected for unicast packets, but WeaveNet NPC has
some counter-intuitive behavior that it does not block multicast packets from
being sent to all hosts (even other competitors), as detailed in this
Ignition Transport uses multicast UDP packets for topic advertisements among
other things, so all topic advertisements from any running robot were
unexpectedly being sent to all hosts, where most of the topics would get
filtered out on the receiving end. I was able to confirm this was the case by
running two simulations simultaneously and logging all the topics before they
were filtered out, and I found the isolation between those two simulations
was indeed broken.
I also wrote some test code:https://github.com/sodium24/cloudsim_net_testwhich confirmed that when
enough topic advertisements are received (on the order of several thousand),
even though most are eventually filtered out, the infrastructure containers
stop working correctly, and topic data, especially tf data, begins to become
lost. This can be seen in the ign_saturation test cases. I was able to
reproduce the issue of my robots either not moving or spinning in circles
outside the entrance on my local computer. Anyone feel free to use/update this
test code btw. There are also some test cases there which might be helpful to
ensure things are working alright despite some common network impairments.
Based on this strong evidence, I believe the Urban Circuit issues were caused
by the excessive rate of multicast Ignition Transport packets unexpectedly
being delivered to all hosts, resulting from the WeaveNet issue combined with
the large number of simulations and robots running at the same time.
22nd April 2020 — Robotika is the first qualified team!
Another important note for both System and Virtual is Schedule Shift of the
Cave Circuit: First, due to the circumstances and restrictions surrounding
COVID-19, Cave Circuit will be no earlier than October 2020. If I count right
it means half a year.
9th May 2020 — mdnet0.64.64.13.4.relu.pth - [Msg] Total score: 3
Murphy is really a Joker!
My friends did quite good job on on the new Robotika docker image, in
particular it has base image with Torch and TensorFlow for CudaDNN
experiments now, and when I ran that on Cave Qualification World on
CloudSim I could see (there is a new feature that you can see some
simulation outputs online):
Note, that all other teams already participated in Tunnel and Urban
circuits. Missing are only two leaders from urban circuit: MTRI and
Coordinated Robotics, and also CYNET-ai is not there yet, but they
probably work now on NASA Space
Robotics Challenge Phase 2.