From 668f65b7b565556c37fd0ec8014b01c774b1b78c Mon Sep 17 00:00:00 2001
From: Oleksandr <maksymets.o@gmail.com>
Date: Fri, 14 Jun 2019 08:44:04 -0700
Subject: [PATCH] Updated baselines readme, fixed links, added link to
 checkpoints (#126)

Updated baselines readme, fixed links, added link to checkpoints.
---
 README.md                                    | 4 ++--
 habitat_baselines/README.md                  | 7 ++++++-
 habitat_baselines/__init__.py                | 5 +++++
 habitat_baselines/slambased/README.md        | 4 ++++
 habitat_baselines/slambased/install_deps.sh  | 6 +++++-
 habitat_baselines/slambased/mappers.py       | 6 ++++++
 habitat_baselines/slambased/monodepth.py     | 9 ++++++++-
 habitat_baselines/slambased/path_planners.py | 6 ++++++
 habitat_baselines/slambased/reprojection.py  | 6 ++++++
 habitat_baselines/slambased/utils.py         | 6 ++++++
 10 files changed, 54 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index b7fb4bd22..197960b7b 100644
--- a/README.md
+++ b/README.md
@@ -149,10 +149,10 @@ Download the Habitat related Gibson dataset following the instructions [here](ht
 | Point goal navigtaion | Gibson | [pointnav_gibson_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_v1.zip) | `data/datasets/pointnav/gibson/v1/` |  [`datasets/pointnav/gibson.yaml`](configs/datasets/pointnav/gibson.yaml) | 385 MB |
 | Point goal navigtaion | MatterPort3D | [pointnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/mp3d/v1/pointnav_mp3d_v1.zip) | `data/datasets/pointnav/mp3d/v1/` | [`datasets/pointnav/mp3d.yaml`](configs/datasets/pointnav/mp3d.yaml) | 400 MB |
 
-To use an episode dataset provide related config to the Env in [the example](#example) or use the config for [RL agent training](baselines/README.md#reinforcement-learning-rl).
+To use an episode dataset provide related config to the Env in [the example](#example) or use the config for [RL agent training](habitat_baselines/README.md#reinforcement-learning-rl).
 
 ## Baselines
-Habitat-API includes reinforcement learning (via PPO) and classical SLAM based baselines. For running PPO training on sample data and more details refer [baselines/README.md](baselines/README.md).
+Habitat-API includes reinforcement learning (via PPO) and classical SLAM based baselines. For running PPO training on sample data and more details refer [habitat_baselines/README.md](habitat_baselines/README.md).
 
 ## Acknowledgments
 The Habitat project would not have been possible without the support and contributions of many individuals. We would like to thank Dmytro Mishkin, Xinlei Chen, Georgia Gkioxari, Daniel Gordon, Leonidas Guibas, Saurabh Gupta, Or Litany, Marcus Rohrbach, Amanpreet Singh, Devendra Singh Chaplot, Yuandong Tian, and Yuxin Wu for many helpful conversations and guidance on the design and development of the Habitat platform.
diff --git a/habitat_baselines/README.md b/habitat_baselines/README.md
index 417920390..242d07e09 100644
--- a/habitat_baselines/README.md
+++ b/habitat_baselines/README.md
@@ -67,8 +67,13 @@ python -u habitat_baselines/evaluate_ppo.py \
 
 ```
 
+We also provide trained RGB, RGBD, Blind PPO models. 
+To use them download pre-trained pytorch models from [link](https://dl.fbaipublicfiles.com/habitat/data/baselines/v1/habitat_baselines_v1.zip) and unzip and specify model path [here](agents/ppo_agents.py#L132).
+
 Set argument `--task-config` to `tasks/pointnav_mp3d.yaml` for training on [MatterPort3D point goal navigation dataset](/README.md#task-datasets).
 
 ### Classic
 
-**SLAM** (coming soon)
+**SLAM based**
+
+- [Handcrafted agent baseline adopted from the paper "Benchmarking Classic and Learned Navigation in Complex 3D Environments"](habitat_baselines/slambased/README.md)
diff --git a/habitat_baselines/__init__.py b/habitat_baselines/__init__.py
index e69de29bb..240697e32 100644
--- a/habitat_baselines/__init__.py
+++ b/habitat_baselines/__init__.py
@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
diff --git a/habitat_baselines/slambased/README.md b/habitat_baselines/slambased/README.md
index d70d3ade3..cf79e2c76 100644
--- a/habitat_baselines/slambased/README.md
+++ b/habitat_baselines/slambased/README.md
@@ -3,6 +3,10 @@
 Project website: https://sites.google.com/view/classic-vs-learned-navigation
 Paper: https://arxiv.org/abs/1901.10915
 
+<p align="center">
+  <img src="data/slam-based-agent.png">
+</p>
+
 If you use this code or the provided environments in your research, please cite the following:
 
     @ARTICLE{Navigation2019,
diff --git a/habitat_baselines/slambased/install_deps.sh b/habitat_baselines/slambased/install_deps.sh
index 75002474f..84ec2aecb 100755
--- a/habitat_baselines/slambased/install_deps.sh
+++ b/habitat_baselines/slambased/install_deps.sh
@@ -1,4 +1,8 @@
-#!/bin/bash
+#!/usr/bin/env bash
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
 
 DIR1=$(pwd)
 MAINDIR=$(pwd)/3rdparty
diff --git a/habitat_baselines/slambased/mappers.py b/habitat_baselines/slambased/mappers.py
index 1c21a44ab..c3823b08f 100644
--- a/habitat_baselines/slambased/mappers.py
+++ b/habitat_baselines/slambased/mappers.py
@@ -1,3 +1,9 @@
+#!/usr/bin/env python3
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
 import numpy as np
 import torch
 import torch.nn as nn
diff --git a/habitat_baselines/slambased/monodepth.py b/habitat_baselines/slambased/monodepth.py
index 80e0d7e75..182b4a523 100644
--- a/habitat_baselines/slambased/monodepth.py
+++ b/habitat_baselines/slambased/monodepth.py
@@ -1,4 +1,11 @@
-r"""The code below is taked from https://github.com/JunjH/Revisiting_Single_Depth_Estimation
+#!/usr/bin/env python3
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
+r"""The code below is taken from
+https://github.com/JunjH/Revisiting_Single_Depth_Estimation
 Revisiting Single Image Depth Estimation: Toward Higher Resolution Maps With Accurate Object Boundaries
 Junjie Hu and Mete Ozay and Yan Zhang and Takayuki Okatani
 WACV 2019
diff --git a/habitat_baselines/slambased/path_planners.py b/habitat_baselines/slambased/path_planners.py
index 9e15e1574..52b4d4676 100644
--- a/habitat_baselines/slambased/path_planners.py
+++ b/habitat_baselines/slambased/path_planners.py
@@ -1,3 +1,9 @@
+#!/usr/bin/env python3
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
 import matplotlib.pyplot as plt
 import numpy as np
 import torch
diff --git a/habitat_baselines/slambased/reprojection.py b/habitat_baselines/slambased/reprojection.py
index a1feff84b..d9d9e3308 100644
--- a/habitat_baselines/slambased/reprojection.py
+++ b/habitat_baselines/slambased/reprojection.py
@@ -1,3 +1,9 @@
+#!/usr/bin/env python3
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
 from math import ceil, floor
 
 import numpy as np
diff --git a/habitat_baselines/slambased/utils.py b/habitat_baselines/slambased/utils.py
index 73acc862d..8f181d1c7 100644
--- a/habitat_baselines/slambased/utils.py
+++ b/habitat_baselines/slambased/utils.py
@@ -1,3 +1,9 @@
+#!/usr/bin/env python3
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
 import time
 
 import numpy as np
-- 
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