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Setup

Data

All the data are contained inside the data directory.

Example: habitat test scenes

  1. Download test-scenes http://dl.fbaipublicfiles.com/habitat/habitat-test-scenes.zip
  2. Unzip inside project directory

Launch an experiment

python scripts/run_exp.py run training or deployment of a policy. More information about "RL baselines" and our RL policy below.

Replay experiment

To replay an experiment, use the following python scripts/visualize_exp.py replay.episode_id={ID episode} replay.exp_name={PATH TO EPISODE} replay.modalities="['rgb', 'depth','semantic']"

Run baselines

The following learned baselines are implemented:

The following classical baselines are implemented:

Train goalexploration policy

Start from confs/habitat/gibson_goal_exploration.yaml

Environments:

Environments for the RL baselines are also provided:

Policies:

Checkpoints:

Generate from goalexploration policy

Start from confs/habitat/gibson_goal_exploration.yaml

Datasets

Scenes datasets

Scenes modelsExtract pathArchive size
Gibsondata/scene_datasets/gibson/{scene}.glb1.5 GB
MatterPort3Ddata/scene_datasets/mp3d/{scene}/{scene}.glb15 GB

Tasks

Gibson object navigation (used for the main results of the paper)

You can download the task at the following link {ADD LINK}, unzip and put it in data/datasets/objectnav/gibson/v1.1

Habitat's pointnav

TaskScenesLinkExtract pathConfig to useArchive size
Point goal navigationGibsonpointnav_gibson_v1.zipdata/datasets/pointnav/gibson/v1/datasets/pointnav/gibson.yaml385 MB
Point goal navigation corresponding to Sim2LoCoBot experiment configurationGibsonpointnav_gibson_v2.zipdata/datasets/pointnav/gibson/v2/datasets/pointnav/gibson_v2.yaml274 MB
Point goal navigationMatterPort3Dpointnav_mp3d_v1.zipdata/datasets/pointnav/mp3d/v1/datasets/pointnav/mp3d.yaml400 MB

MatterPort

Gibson

Dependencies

Contributing

If you want to contribute to the project, I suggest to install requirements-dev.txt and abilitate pre-commit

python -m pip install -r requirements-dev.txt
pre-commit install