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Roadmap#

This page lists the planned work on the simulator. The list is a plan, not a commitment.

The Learning section gives the plan of the learning stack. The Tasks section will contain more tasks.

Near Term#

Item Description
Terrain apron Extend the terrain around the tile, so that a vehicle near the edge sees ground and not the end of the map.
Georeference scale factor Correct the scale-factor difference between the grid of the map and UTM distances. The ACRE Scene describes the frames.
Drive-by-wire timing in the game Apply the timing corrections that the formal proofs found. Refer to Verification.
Reduced sensor profile on a 6 GB GPU Measure the reduced profile on a real GPU with 6 GB of memory.
Windows and macOS Build, package and test the game on these platforms.

Vehicles and Implements#

Item Description
Measure the Maxxum Compare draft, slip and fuel with a real Maxxum on ACRE soil, then fit the parameters.
Combine harvester Add the combine harvester to the game. Its source model is in Acres/Raw/farm-equipment.
Maxxum in ACRES Core Add the Maxxum and the implement model to ACRES Core.
Measured Polaris geometry Replace the reconstructed Polaris mesh and the solved camera mount with measured values.

Data and Rendering#

Item Description
Render-later datasets Record episodes at high speed and make camera and LiDAR datasets from them in the game.
Training render profile A low-cost render profile with small camera images for closed-loop tests of vision models.
More agents in one game Run many vehicles in one game process for the collection of data.

Tasks#

Item Description
Scouting with weather A second version of the scouting task, in which the weather changes during the mission.
Harvest task A task that harvests corn fields row by row with the minimum fuel while rain occurs. Refer to Harvest Task (Proposal).
Skills as ROS 2 actions High-level skills for planners, with queries of the world state.

How to Propose a Change#

  1. Read Design Choices and Limitations.
  2. Open an issue in the repository that states the problem, the proposal and the test.
  3. Obey the rules in Coding and Naming Conventions.