Real robot deployment of Constraint-Aware Zero-Shot Vision-Language Navigation in Continuous Environments

Kehan Chen*; Dong An*; Yan Huang; Rongtao Xu; Yifei Su; Yonggen Ling; Ian Reid; Liang Wang+;

[Paper] & [Project]

We provide the real robot deployment code in this repository. codes in src/svm_nav_pkh/scripts/ZSVLN are for CA-Nav and codes in src/svm_nav_pkh/scripts/CoW-ZSVLN are for Cow.

The codes are based on ROS1 Noetic(Ubuntu 20.04) and the launch file is in src/svm_nav_pkh/scripts/launch/run_svm_nav.launch

If you want to deploy CA-Nav on your robot, please remember to place blip2, grounded_sam and vqa folders under src/svm_nav_pkh/scripts/ZSVLN/data