NoMaD on a P3DX
Image-goal navigation running closed-loop on a real robot
Deployed NoMaD, an image-goal navigation model, on a Pioneer P3DX ground robot over ROS, closing the loop from camera frames to velocity commands in a real indoor environment.
Most of the work was in making it fast enough to be useful: I optimised the inference path to cut per-step latency so the policy could sustain real-time onboard operation, rather than stuttering between control updates.