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Ivan Nikolic edited this page May 12, 2026 · 11 revisions

high priority NAV, TELEOP, PHYSICAL CI

lower priority vla/manip stereo nav/mono nav

all wednesday

  • TODO release dev -> main/master

Pim ACT end of May grabbing boxes off tables

  • TODO PR Groot policy (ready, sorting comments)
  • TODO PR Pointing (getting ready?)
  • TODO PR Sim (maybe talk? idk)
g1.point_to(PoseStamped)
  • ... sim work (we want to load textured meshes)

Kratos review of nav stack

  • TODO fix drunk G1
  • TODO wheel platform jeff's certified nav (working title)

Sam

  • TODO 90% of tests running in GH runner. External PRs can run against these and parellise.

  • TODO Linter also running on GH runner.

  • TODO Self hosted runner only runs remaining (currently 140) tests which need ROS, LFS or something similar. Only runs on internal PRs.

  • TODO Tightening up security of the workflows.

  • TODO deps split (base very light, no torch dep)

  • TODO - antim labs CI

Ivan

  • DONE release notes for stash
  • DONE agents review - mem2 integration, module writing?
  • DONE REVIEW tool streaming
  • DONE MEET on drones, multi-body blueprint
  • DONE MEET on precision vs speed control spec (multi body)
  • DONE review antim labs simulation
  • DONE figure out nav project + bona, make a roadmap 6 weeks to POC
  • TODO multi embodiment deployment
  • TODO password management system review
  • TODO aws service infra?
  • TODO mid360 dimos nav (loop closure working, april tag )

Dan

  • TODO april tag localizer

Jeff

  • DONE merge, nav hoping by end of Tue
  • MEET nav
  • TODO testing & issue fixes
  • TODO move out of fastlio plz

Mustafa

  • DONE - benchmarks - share with Ivan

  • DONE - galaxia integration work - visiting them again

  • DONE - MEET on precision vs speed control

  • TODO - SPEED STUFF

  • TO MERGE - some teleop, manip

  • TODO - setup jetson go2

  • TODO - merge robot modeling/benchmark module

  • TODO - Ivan can test trajectory control on his go2, not integrated as a module, but separate scripts

.. backpack, charging

Paul

  • TODO Extracting connections to separate modules (testing PR)

  • TODO compose feedback for antim labs with Ivan

  • TODO Remove rpyc

  • TODO Agents review - mem2 integration, module writing? https://github.com/dimensionalOS/dimos/issues/1970

    for trial issue? @rpc(thread="body") @rpc(thread="body") @rpc(thread="sound")

  • MEET blueprint multibody

Ruthwik

  • TODO teleop with Stash
  • MEET on teleop

Andrew

  • DONE dtop multiprocess
  • TODO o3d on jetson!
  • TODO rust module stuff

Ezen

  • DONE MEET on drones, blueprint ..multibody work on our end

Control

  • Trajectory controller
    • Obstacle avoidance
    • Multistory
    • Integration of third party hardware
    • Self charging
    • Is manip supposed to use this?

Core

  • Process per module? What's the memory footprint?

Agents

What works:

  • Mostly CLI start/stop blueprints

TODOs:

  • Sequential — decorators maybe?
  • Streaming — tool msg streaming?

HumanCLI IS MCP

  • Interface to MCP client — a dumb internal agent loop if people don't want to use OpenClaw/Claude

Delete non-MCP agent (agent3 :D)

PY API — explain why:

  • REPL
  • memory2
  • We are cheating with security demo

Example tasks for a robot:

  • Tell an agent to walk around a car in a circle and take photos of it
  • Security demo without a security module
  • Security demo without a patrol module!
deployed_blueprint = UnitreeGo2Blueprint()

class Module():
    def start()
        robot.detect("person").pipe(robot.cmd_vel)

deployed_blueprint.deploy(Module)

while True:
    deployed_blueprint.camera.detect(PersonDetector)
    deployed_blueprint.follow()
    time.sleep(1)

Memory.navto(car)

while True:
   robot.lidar.freespace()
   # some motion trigonometry
   # print out possible motion
   # agent tells you to execute

# big thing is memory

Halting problem etc — agent will write horrible things, none of them should crash dimos

Manipulation

  • Humanoid
  • Sim

DDS (Go2/G1) — always with backpack

  • High level
  • Low level ctrl for policies
  • TODO: what's up with the internal lidar?

Hardware

Backpack:

  • Need to decide on Jetson
  • DONE Ivan: link your Seeed Studio industrial
  • TODO Mustafa: adopt for Jetson
  • End of week roughly

Charging: TBD

Community Comms

Ruthwik

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