FSM Week 9 Update

Since the Habitat itself is hard to navigate, we are trying to set up Home Robot, another version of Habitat with better stretch implementation.

Nick helped us get the access to the Capstone Lab in CSE2 Undergrad Commons. And Micheal helped us set up a machine with Home Robot and tested it running Home Robot successfully. Shout out to them!

# download test point nav dataset
python -m habitat_sim.utils.datasets_download --uids habitat_test_scenes habitat_test_pointnav_dataset

Make sure you have the data at the right position, you should find some folders like these: data/datasets/pointnav/mp3d/v1/. If not, manually adjust them.

HomeRobot: https://github.com/facebookresearch/home-robot

We need some necessary data in the 3D environment. I applied for Matterport 3D research dataset which is a largest 3D dataset of indoor spaces.

Habitat - Matterport 3D Research Dataset: https://github.com/matterport/habitat-matterport-3dresearch?tab=readme-ov-file

https://aihabitat.org/docs/habitat-lab/habitat-lab-demo.html#scene-semantic-annotations

https://www.open-rmf.org/

https://github.com/osrf/osrf_wiki/wiki/GSoC24

https://wwj718.github.io/post/%E7%BC%96%E7%A8%8B/autonomous-agent-in-roblox/

https://github.com/bblais/RobotSim373

https://github.com/NISYSLAB/Emory-BMI-GSoC

SSH without Password

#MYLE On your local machine:

# generate an SSH key pair
ssh-keygen -t rsa -b 4096
 
# find and copy you public key
cat ~/.ssh/id_rsa.pub

Now go to server side:

mkdir -p ~/.ssh
chmod 700 ~/.ssh
 
echo your_public_key >> ~/.ssh/authorized_keys
chmod 600 ~/.ssh/authorized_keys

Now you should be able to SSH into the server without being prompted for a password.