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One-4-All

One-4-All (O4A) implementation for image-goal navigation in the Habitat simulator and some toy maze problems. See the paper here.

Installation

One-4-All

Download the repository with the submodules by running:

git clone --recurse-submodules https://github.com/montrealrobotics/one4all.git

To install the project run the following commands within the project folder.

# Install Venv
pip3 install --upgrade pip
pip3 install --user virtualenv

# Create Env
cd plan2vec
python3 -m venv venv
# Activate env
source venv/bin/activate

Then install the project dependencies as follows:

pip3 install -r requirements.txt
pip3 install geomloss
cd mazelab
pip3 install -e .
export PYTHONPATH=<path_to>/one4all/:$PYTHONPATH

Habitat-sim

We'll install habitat-sim in the same venv. First make sure you have cmake>=3.10 by checking cmake --version.

Now let's install Habitat-Sim following the instructions here:

git clone --branch stable https://github.com/facebookresearch/habitat-sim.git
cd habitat-sim
pip install -r requirements.txt  # Make sure you're still in the venv installed above

# Last argument may be facultative, but was required on Ubuntu 20.04. See this [issue](https://github.com/facebookresearch/habitat-sim/issues/658)
# You may need to install cuda with "sudo apt install nvidia-cuda-toolkit"
python setup.py --bullet --with-cuda build_ext --parallel 8 install --cmake-args="-DUSE_SYSTEM_ASSIMP=ON" # Specify parallel to avoid running out of memory

Now's a good time to test if the test interactive scene works.

If you have issues with a non-nvidia GPU being used for rendering, try sudo prime-select nvidia then reboot. Make sure nvidia stuff is being used with glxinfo | grep OpenGL.

Habitat-lab

Install with:

git clone --branch stable https://github.com/facebookresearch/habitat-lab.git
cd habitat-lab
pip install -r requirements.txt
python setup.py develop --all # install habitat and habitat_baselines

Make sure to download some test scenes :

python -m habitat_sim.utils.datasets_download --uids habitat_test_scenes --data-path data/
python -m habitat_sim.utils.datasets_download --uids habitat_test_pointnav_dataset --data-path data/

and finally generate additional pointnav episodes. These can be customized by tweaking the script :

python script/create_pointnav_dataset.py

One-4-All

In this section, we will go over how to generate data, train O4A and navigate the model in Habitat. You may want to skip training and download trained checkpoints from here.

If you aim to reproduce the Habitat results from the paper using our checkpoints, you should use the Paper release. Previous O4A checkpoints may not be compatible with the latest version of the code.

Generating data

We'll use the Habitat simulator for data generation and navigation. You first need to download the relevant scenes (at least Annawan) from the official Gibson repositiory. Make sure to put the relevant .glb and .navmesh files under the data_habitat/versioned_data/habitat_test_scenes_1.0 directory.

You should now be able to generate the pointnav episodes (we will use them for imagenav).

python script/create_pointnav_dataset.py

We are now ready to run data collection. The following command will run the data collection procedure for Annawan, following the specifications of the paper

python3 run_habitat.py env=habitat sim_env=Annawan policy=habitat_shortest difficulty=data_collection collect_data=true test_params.min_steps=499 test_params.max_steps=500 test_params.n_trajectories=60

Training

Train your components is easy giving the configs we provided within this repository. If you want to train the models in your own dataset you need to train them as follows.

Local Backbone and Inverse Kinematics Head

As specified in the paper, local backbone and inverse kinematics head are trained jointly. An example is given below where both models are trained for five epochs using a convolutional predictor using (by default) the Annawan environment:

python3 train.py env=habitat experiment=train_local_habitat model.net.predictor=conv1d epochs=5

Forward Kinematics

Once local backbone and inverse kinematics head is trained, forward kinematics can be trained with the next command:

python3 train.py experiment=train_fk_habitat env=habitat epochs=5

Note that you may need to make sure the path checkpoints.backbone_path is properly pointing to the checkpoint of your previously trained Local Backbone.

Geodesic Regressor

Finally, the geodesic regressor is trained by running:

python3 train.py experiment=train_geodesic_habitat env=habitat epochs=5 datamodule.drop_last=false

Where the datamodule.drop_last=false ensures we work with all the states in our dataset.

For further information on the parameters available for training and the structure of the project, refer to conf/config.yaml

Navigation

For navigation, you need to organize your trained checkpoints (or download them) in the following way

components
└── habitat
    ├── backbone.ckpt
    ├── fk.ckpt
    └── geodesic_regressors
        ├── annawan.ckpt
        ...

or alternatively change the paths in conf/env/habitat.yaml.

You can then benchmark the O4A agent for 10 trajectories in the Annawan environment by running

python3 run_habitat.py policy=habitat_o4a env=habitat sim_env=Annawan difficulty=hard test_params.n_trajectories=10

You should obtain something close to the following metrics

[2023-03-17 16:52:03,957][src.run_habitat][INFO] - Difficulty : hard.
[2023-03-17 16:52:03,958][src.run_habitat][INFO] - Success      : 0.9000
[2023-03-17 16:52:03,958][src.run_habitat][INFO] - Soft Success : 1.0000
[2023-03-17 16:52:03,958][src.run_habitat][INFO] - SPL          : 0.6545
[2023-03-17 16:52:03,958][src.run_habitat][INFO] - Soft SPL     : 0.6140
[2023-03-17 16:52:03,958][src.run_habitat][INFO] - DTG          : 0.9436
[2023-03-17 16:52:03,958][src.run_habitat][INFO] - Collisions   : 0.0000
[2023-03-17 16:52:03,958][src.run_habitat][INFO] - CFT          : 1.0000
[2023-03-17 16:52:03,958][src.run_habitat][INFO] - Failed Traj. : []