In parallel with System Track Urban Circuit starts also Virtual Track.
This time we will keep two separate threads/blogs although they are connected
— one team Robotika. While System Track is still "big unknown" for
Virtual Track is already qualification world prepared, so let's have a look …
Update: 8/1/2020 —
Virtual Urban Circuit Qualification Results
Qualification for the Virtual Urban Circuit will require submitting a docker
solution against the Urban Circuit Qualification scenario through the Tech Repo
(https://subtchallenge.world/compete). In order to qualify, a team will
need to submit a docker solution that is able to successfully report at least
five of the artifacts within one hour of simulation time. Teams may submit
against the Urban Qualification scenario as many times as they choose until the
deadline for the Virtual Urban Circuit qualification, January 3, 2020
Tunnel Circuit Virtual Teams,
We hope your fall is going well. This is a notice that your team has received
a Team Qualification waiver for the Urban Circuit of the Virtual Competition
based on your successful participation at the Tunnel Circuit event.
However, please stay tuned for the upcoming release of an updated
Qualification Guide. We do plan to release additional guidance related to team
registration and additional requirements.
We look forward to your continued participation in the SubT Challenge!
Any details? Well, there are some … for example we are not sure when it is
guaranteed that the ROS bag recorder is ready
Also the version on AWS is more than 2 weeks old
No, the version numbering is not available (yet?)
so the only hint is output from simulation:
There is one close deadline: Qualification ends on Jan 3, 2020, i.e. in 9
days. If you check the scoreboardUrban Qualification then you can tell that new teams will have a hard time!
Robotika is „leading” with zero points at the moment and you can see
two new teams TunnelVision and Map Quickly. The team OSRF SubT
RedTeam I believe is just testing team of the organizers and it will later
disappear. If you want to qualify you have to score 5 points, and in particular
you have to be able to navigate on the railway to next stations where are
artifacts hidden. Definitely not easy task. The old teams from Virtual
Tunnel Circuit have qualification waiver so that is the reason they do not
worry much … (yeah, including robotika, but … if you are not able to
qualify how you want to win?!).
The new logging system seems to be working fine, so I was able to download logs
from two robots A10F300L and B50F300R,
200670743174.dkr.ecr.us-east-1.amazonaws.com/subt/robotika:ver36. BTW I
like the new info feature
The results were not great. I am not able to extract log for robot A at the
moment, but that could be an issue on my side (work in progress). And what
about B robot? See some pictures from RGBD camera with 640x360 resolution (BTW
that was another „lost case”, because this sensor should simulate
but Resistance is useless,
In short it is not good for new teams: No team reached limit 5 points! There
was a request to extend the deadline or lower the threshold on the
forum (restricted access) and the DARPA answer was:
The Virtual Urban Circuit qualification deadline and threshold will remain as
outlined in the SubT Qualification Guide. We understand the challenges of
autonomous navigation and artifact detection in these environments are
difficult and require significant development time. You are encouraged to
continue developing and submitting your solution to the Urban Qualification
world and note there are more opportunities to compete in the Cave Circuit and
the Final Event.
I agree that it is very hard to get some points in Urban Qualification
world — see SubT Virtual Urban Qualification -
1st point/video. The point was collected by big wheeled platform X1 with QVGA
camera (320x240) and 5 meters range lidar, the weakest sensor configuration.
The motivation for X1 was large wheels so that it can overcome the bolts
holding the rails. Note bad orientation on the rail, probably caused by the
robot tilt (I hope). Also note, that the robot had to go all the way to the
next station to be able to turn — it is not possible to do it safely on the
railway. Yes at the final stage, when the robot is supposed to navigate on its
own path, it failed too. The robot did not climb back to the platform.
Nevertheless robot reported the artifact and the wall to base station was not
too big so it scored 1 point!
The next attempts were with ROBOTIKA_X2_SENSOR_CONFIG_1 configuration
(robot X2 with RGBD camera 640x360). Here the robot has to enter the rails very
precisely to be able to explore it.
Well, we (robotika) are qualified thanks to waiver from Tunnel Circuit
but there is a lot of work needed to successfully score in 25 remaining days to final
8th January 2020 — Virtual Urban Circuit Qualification Results
OK, now is the qualification disasterofficial
Congratulations to the 8 teams who qualified for Virtual Urban Circuit! These
teams provided narratives and had received score waivers for successfully
submitting qualifying solutions to Tunnel Circuit. The teams competing in
Virtual Urban Circuit are:
We appreciate the new members of the SubT Challenge community who made
significant progress with their solutions to the Virtual Urban Qualification
world. We hope you will continue development to qualify for Virtual Cave
Circuit and the Final Event.
Also the list of teams is now
up-to-date (it seems to me that there are no new teams in both tracks).