diff --git a/configs/tasks/objectnav_mp3d.yaml b/configs/tasks/objectnav_mp3d.yaml
index 8811ba838a4d7fc8af95418b250041f0f6700332..2f5dd4b0af61fef9794dd9eb087871abbcf97b50 100644
--- a/configs/tasks/objectnav_mp3d.yaml
+++ b/configs/tasks/objectnav_mp3d.yaml
@@ -1,5 +1,8 @@
ENVIRONMENT:
MAX_EPISODE_STEPS: 500
+ ITERATOR_OPTIONS:
+ CYCLE: True
+ NUM_EPISODE_SAMPLE: 4
SIMULATOR:
TURN_ANGLE: 30
TILT_ANGLE: 30
@@ -20,6 +23,9 @@ SIMULATOR:
HEIGHT: 480
HFOV: 79
POSITION: [0, 0.88, 0]
+ NOISE_MODEL: "GaussianNoiseModel"
+ NOISE_MODEL_KWARGS:
+ intensity_constant: 0.1
DEPTH_SENSOR:
WIDTH: 640
HEIGHT: 480
@@ -27,6 +33,7 @@ SIMULATOR:
MIN_DEPTH: 0.5
MAX_DEPTH: 5.0
POSITION: [0, 0.88, 0]
+ NOISE_MODEL: "RedwoodDepthNoiseModel"
TASK:
TYPE: ObjectNav-v1
POSSIBLE_ACTIONS: ["STOP", "MOVE_FORWARD", "TURN_LEFT", "TURN_RIGHT", "LOOK_UP", "LOOK_DOWN"]
@@ -45,7 +52,7 @@ TASK:
DATASET:
TYPE: ObjectNav-v1
- SPLIT: val
- CONTENT_SCENES: []
+ SPLIT: train
+ CONTENT_SCENES: ["GdvgFV5R1Z5", "GdvgFV5R1Z5", "GdvgFV5R1Z5", "GdvgFV5R1Z5"] # ["YmJkqBEsHnH", "YmJkqBEsHnH", "YmJkqBEsHnH", "YmJkqBEsHnH"] # ["*"] #
DATA_PATH: "data/datasets/objectnav/mp3d/v0/{split}/{split}.json.gz"
SCENES_DIR: "data/scene_datasets/"
diff --git a/examples/shortest_path_follower_example.py b/examples/shortest_path_follower_example.py
index 7b2262aed1e60c2d56d588e562c7f349d3277619..2d0e397195f8832eeb09763734de71b69a48a14d 100644
--- a/examples/shortest_path_follower_example.py
+++ b/examples/shortest_path_follower_example.py
@@ -62,7 +62,9 @@ def draw_top_down_map(info, heading, output_size):
def shortest_path_example(mode):
- config = habitat.get_config(config_paths="configs/tasks/pointnav.yaml")
+ config = habitat.get_config(
+ config_paths="configs/tasks/objectnav_mp3d.yaml"
+ )
config.defrost()
config.TASK.MEASUREMENTS.append("TOP_DOWN_MAP")
config.TASK.SENSORS.append("HEADING_SENSOR")
@@ -97,8 +99,13 @@ def shortest_path_example(mode):
top_down_map = draw_top_down_map(
info, observations["heading"][0], im.shape[0]
)
+ from habitat.utils.visualizations.utils import (
+ observations_to_image,
+ )
+
output_im = np.concatenate((im, top_down_map), axis=1)
- images.append(output_im)
+
+ images.append(observations_to_image(observations, info))
images_to_video(images, dirname, "trajectory")
print("Episode finished")
diff --git a/habitat/config/default.py b/habitat/config/default.py
index 1182a03e82fdc6c618d820f50a04fd326ffeb8fe..1031ef26b7f6d145ed64ce050167b658875abb33 100644
--- a/habitat/config/default.py
+++ b/habitat/config/default.py
@@ -212,6 +212,8 @@ SIMULATOR_SENSOR.HEIGHT = 480
SIMULATOR_SENSOR.WIDTH = 640
SIMULATOR_SENSOR.HFOV = 90 # horizontal field of view in degrees
SIMULATOR_SENSOR.POSITION = [0, 1.25, 0]
+SIMULATOR_SENSOR.ORIENTATION = [0.0, 0.0, 0.0]
+SIMULATOR_SENSOR.NOISE_MODEL = "None"
# -----------------------------------------------------------------------------
# RGB SENSOR
# -----------------------------------------------------------------------------
@@ -242,7 +244,7 @@ _C.SIMULATOR.AGENT_0.ANGULAR_ACCELERATION = 4 * 3.14
_C.SIMULATOR.AGENT_0.LINEAR_FRICTION = 0.5
_C.SIMULATOR.AGENT_0.ANGULAR_FRICTION = 1.0
_C.SIMULATOR.AGENT_0.COEFFICIENT_OF_RESTITUTION = 0.0
-_C.SIMULATOR.AGENT_0.SENSORS = ["RGB_SENSOR"]
+_C.SIMULATOR.AGENT_0.SENSORS = ["RGB_SENSOR", "DEPTH_SENSOR"]
_C.SIMULATOR.AGENT_0.IS_SET_START_STATE = False
_C.SIMULATOR.AGENT_0.START_POSITION = [0, 0, 0]
_C.SIMULATOR.AGENT_0.START_ROTATION = [0, 0, 0, 1]
diff --git a/habitat/core/dataset.py b/habitat/core/dataset.py
index 00e70f5ad843d4bb208edf98cc10964406587ad0..3b74acdf51c26aa1d0c160bc788a188e91ab66f8 100644
--- a/habitat/core/dataset.py
+++ b/habitat/core/dataset.py
@@ -309,6 +309,13 @@ class EpisodeIterator(Iterator):
# sample episodes
if num_episode_sample >= 0:
+ np.random.seed(100)
+ print(f"np.random.state {np.random.get_state()[0]}")
+ episodes = [
+ episode
+ for episode in episodes
+ if episode.episode_id in ["7", "77", "774", "10"]
+ ]
episodes = np.random.choice(
episodes, num_episode_sample, replace=False
)
diff --git a/habitat/core/env.py b/habitat/core/env.py
index 273a9775e8d5c08bd23c8d85fa6bd852acb7bc92..f79ef247aab3a3c706aaf88632c7ccf9150d8dd7 100644
--- a/habitat/core/env.py
+++ b/habitat/core/env.py
@@ -4,6 +4,7 @@
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
+import random
import time
from typing import Any, Dict, Iterator, List, Optional, Tuple, Type, Union
@@ -91,6 +92,9 @@ class Env:
self._config.defrost()
self._config.SIMULATOR.SCENE = self._dataset.episodes[0].scene_id
self._config.freeze()
+ print(
+ f"scenes{self._dataset.scene_ids}len(self._dataset.episodes) = {len(self._dataset.episodes)}"
+ )
self._sim = make_sim(
id_sim=self._config.SIMULATOR.TYPE, config=self._config.SIMULATOR
@@ -198,6 +202,7 @@ class Env:
assert len(self.episodes) > 0, "Episodes list is empty"
self._current_episode = next(self._episode_iterator)
+ # print(f"self._current_episode: {self._current_episode.episode_id} {self._current_episode.scene_id}")
self.reconfigure(self._config)
observations = self.task.reset(episode=self.current_episode)
@@ -254,6 +259,8 @@ class Env:
return observations
def seed(self, seed: int) -> None:
+ np.random.seed(seed)
+ random.seed(seed)
self._sim.seed(seed)
self._task.seed(seed)
diff --git a/habitat/datasets/object_nav/object_nav_dataset.py b/habitat/datasets/object_nav/object_nav_dataset.py
index a595b26bdadf254969868feda27eefc4bd7fc8bb..c0437346a9ba044064993b8d942d26fc099fc0d2 100644
--- a/habitat/datasets/object_nav/object_nav_dataset.py
+++ b/habitat/datasets/object_nav/object_nav_dataset.py
@@ -36,7 +36,11 @@ class ObjectNavDatasetV1(PointNavDatasetV1):
def from_json(
self, json_str: str, scenes_dir: Optional[str] = None
) -> None:
+ from habitat.core.logging import logger
+
+ logger.info(f"deserializing")
deserialized = json.loads(json_str)
+ logger.info("unpacking")
if CONTENT_SCENES_PATH_FIELD in deserialized:
self.content_scenes_path = deserialized[CONTENT_SCENES_PATH_FIELD]
@@ -98,3 +102,4 @@ class ObjectNavDatasetV1(PointNavDatasetV1):
for i, ep in enumerate(self.episodes):
ep.episode_id = str(i)
+ logger.info("unpacked.")
diff --git a/habitat/sims/habitat_simulator/habitat_simulator.py b/habitat/sims/habitat_simulator/habitat_simulator.py
index 244258270d53e989ff319d75cef759c8bbf4edda..2c2eab0df86d166504cc705935bf832c4f1c5bf7 100644
--- a/habitat/sims/habitat_simulator/habitat_simulator.py
+++ b/habitat/sims/habitat_simulator/habitat_simulator.py
@@ -186,12 +186,18 @@ class HabitatSim(Simulator):
sensor_specifications = []
for sensor in _sensor_suite.sensors.values():
sim_sensor_cfg = habitat_sim.SensorSpec()
+ overwrite_config(
+ config_from=sensor.config, config_to=sim_sensor_cfg
+ )
sim_sensor_cfg.uuid = sensor.uuid
sim_sensor_cfg.resolution = list(
sensor.observation_space.shape[:2]
)
sim_sensor_cfg.parameters["hfov"] = str(sensor.config.HFOV)
- sim_sensor_cfg.position = sensor.config.POSITION
+ # sim_sensor_cfg.position = sensor.config.POSITION
+ # sim_sensor_cfg.orientation = np.array(sensor.config.ORIENTATION, dtype=np.float32)
+ # sim_sensor_cfg.noise_model = sensor.config.NOISE_MODEL
+
# TODO(maksymets): Add configure method to Sensor API to avoid
# accessing child attributes through parent interface
sim_sensor_cfg.sensor_type = sensor.sim_sensor_type # type: ignore
diff --git a/habitat/tasks/nav/nav.py b/habitat/tasks/nav/nav.py
index 49d835d2dad256d82518e6a04d04f5f5a64b2e49..62159d8dda3babda5502b4df6bbc47e61099d447 100644
--- a/habitat/tasks/nav/nav.py
+++ b/habitat/tasks/nav/nav.py
@@ -817,6 +817,9 @@ class DistanceToGoal(Measure):
for goal in episode.goals
for view_point in goal.view_points
]
+ # logger.info(
+ # f"episode: {episode.episode_id}, {episode.goals[0].object_category} self._episode_view_points { len(self._episode_view_points)}."
+ # )
self.update_metric(*args, episode=episode, **kwargs)
def _euclidean_distance(self, position_a, position_b):
diff --git a/habitat_baselines/common/env_utils.py b/habitat_baselines/common/env_utils.py
index 1c87463e6edb1dcc8ea72ca2e9edaab92a655b15..0e8d350e690183a29e2cc8dc8ada4a5576f320c9 100644
--- a/habitat_baselines/common/env_utils.py
+++ b/habitat_baselines/common/env_utils.py
@@ -54,8 +54,11 @@ def construct_envs(
configs = []
env_classes = [env_class for _ in range(num_processes)]
dataset = make_dataset(config.TASK_CONFIG.DATASET.TYPE)
- scenes = dataset.get_scenes_to_load(config.TASK_CONFIG.DATASET)
+ scenes = config.TASK_CONFIG.DATASET.CONTENT_SCENES
+ if "*" in config.TASK_CONFIG.DATASET.CONTENT_SCENES:
+ scenes = dataset.get_scenes_to_load(config.TASK_CONFIG.DATASET)
+ print(f"len(scenes): {len(scenes)}")
if len(scenes) > 0:
random.shuffle(scenes)
diff --git a/habitat_baselines/common/utils.py b/habitat_baselines/common/utils.py
index d9b976765786f934f36494a9db9ff58ee8ca3cc2..8ddb184f6128811ad9885f12756c2ce039c42ecf 100644
--- a/habitat_baselines/common/utils.py
+++ b/habitat_baselines/common/utils.py
@@ -165,5 +165,9 @@ def generate_video(
images_to_video(images, video_dir, video_name)
if "tensorboard" in video_option:
tb_writer.add_video_from_np_images(
- f"episode{episode_id}", checkpoint_idx, images, fps=fps
+ # f"episode{episode_id}",
+ video_name,
+ checkpoint_idx,
+ images,
+ fps=fps,
)
diff --git a/habitat_baselines/config/objectnav/ddppo_objectnav.yaml b/habitat_baselines/config/objectnav/ddppo_objectnav.yaml
index 1e759ad89264bc52b4eda4560d80c49903decac1..1881ceb16cc463b329cd6abba278e616fc520079 100644
--- a/habitat_baselines/config/objectnav/ddppo_objectnav.yaml
+++ b/habitat_baselines/config/objectnav/ddppo_objectnav.yaml
@@ -4,23 +4,26 @@ ENV_NAME: "NavRLEnv"
SIMULATOR_GPU_ID: 0
TORCH_GPU_ID: 1
VIDEO_OPTION: ["disk", "tensorboard"]
-TENSORBOARD_DIR: "/checkpoint/maksymets/logs/habitat_baselines/ddppo/obj_nav_mp3d"
+TENSORBOARD_DIR: "/checkpoint/maksymets/logs/habitat_baselines/ddppo/obj_nav_mp3d_4_ep_slack-1e3"
VIDEO_DIR: "data/video_dir"
-TEST_EPISODE_COUNT: 2184
-EVAL_CKPT_PATH_DIR: "data/new_checkpoints"
-NUM_PROCESSES: 2
+TEST_EPISODE_COUNT: 1
+EVAL_CKPT_PATH_DIR: "data/new_checkpoints/obj_nav_mp3d_4_ep_slack-1e3"
+NUM_PROCESSES: 4
SENSORS: ["DEPTH_SENSOR", "RGB_SENSOR"]
-CHECKPOINT_FOLDER: "data/new_checkpoints"
-NUM_UPDATES: 10000
+CHECKPOINT_FOLDER: "data/new_checkpoints/obj_nav_mp3d_4_ep_slack-1e3"
+NUM_UPDATES: 270000
LOG_INTERVAL: 10
CHECKPOINT_INTERVAL: 50
+EVAL:
+ SPLIT: "train"
RL:
SUCCESS_REWARD: 2.5
+ SLACK_REWARD: -1e-3
PPO:
# ppo params
clip_param: 0.2
- ppo_epoch: 2
+ ppo_epoch: 4
num_mini_batch: 2
value_loss_coef: 0.5
entropy_coef: 0.01
diff --git a/habitat_baselines/config/pointnav/ddppo_pointnav.yaml b/habitat_baselines/config/pointnav/ddppo_pointnav.yaml
index b6f56c62d5d4d2db259d57643d810df6768adb26..6558e350e925f35dac920737c659e2d30cb16122 100644
--- a/habitat_baselines/config/pointnav/ddppo_pointnav.yaml
+++ b/habitat_baselines/config/pointnav/ddppo_pointnav.yaml
@@ -8,7 +8,7 @@ TENSORBOARD_DIR: "tb"
VIDEO_DIR: "video_dir"
TEST_EPISODE_COUNT: 994
EVAL_CKPT_PATH_DIR: "data/new_checkpoints"
-NUM_PROCESSES: 4
+NUM_PROCESSES: 2
SENSORS: ["DEPTH_SENSOR"]
CHECKPOINT_FOLDER: "data/new_checkpoints"
NUM_UPDATES: 10000
diff --git a/habitat_baselines/rl/ddppo/single_node_obj_nav.sh b/habitat_baselines/rl/ddppo/single_node_obj_nav.sh
new file mode 100644
index 0000000000000000000000000000000000000000..df389cd3dd91f05bd54bfea96bce529129c11b2e
--- /dev/null
+++ b/habitat_baselines/rl/ddppo/single_node_obj_nav.sh
@@ -0,0 +1,12 @@
+#/bin/bash
+
+export GLOG_minloglevel=2
+export MAGNUM_LOG=quiet
+
+set -x
+python -u -m torch.distributed.launch \
+ --use_env \
+ --nproc_per_node 1 \
+ habitat_baselines/run.py \
+ --exp-config habitat_baselines/config/objectnav/ddppo_objectnav.yaml \
+ --run-type train
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