What is OmniNav?#

OmniNav is a general-purpose navigation simulation platform built on top of the Genesis physics engine, designed for Embodied AI / Robotics Navigation / Sim2Real applications.

It is simultaneously multiple things:

  1. A unified navigation benchmark for evaluating navigation and obstacle avoidance algorithms.

  2. A plug-and-play algorithm framework supporting both classical planners and neural network-based methods (VLA/VLN).

  3. A robot-agnostic platform with built-in support for quadruped, wheeled, and humanoid robots.

  4. A high-fidelity simulation environment with GPU-accelerated physics and photo-realistic rendering.

Key Features#

  • 🚀 High Performance: Leverages Genesis engine for GPU-accelerated physics simulation.

  • 🔌 Plug-and-Play Algorithms: Easy integration of classical planners, RL policies, and VLA/VLN models.

  • 📊 Built-in Evaluation: Pre-defined navigation tasks with standard metrics (SPL, Success Rate).

  • 🤖 Multi-Robot Support: Quadruped (Go2), wheeled robots, and extensible to other platforms.

  • 🌐 ROS2 Compatible: Optional ROS2 bridge for Sim2Real deployment.

  • 📦 Scene Import: Support for USD, GLB, OBJ, and custom scene assets.

  • 🔧 Configuration-Driven: Hydra-based configuration for flexible experiment management.

Long-term Missions#

  1. Simplifying navigation research by providing a ready-to-use benchmark with standardized evaluation metrics.

  2. Bridging the Sim2Real gap with high-fidelity physics simulation and optional ROS2 integration.

  3. Accelerating algorithm development with a modular, extensible architecture.