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Room-to-Room (R2R) Navigation Task

Download Data

Data consists of train/val-seen/val-unseen/test splits. There are two validation sets to better understand generalization performance between buildings that are in the training set (val-seen) and unseen buildings. The test set consists entirely of unseen buildings.

To download, from the top level directory, run:

./tasks/R2R/data/download.sh

Data is formatted as follows:

{
  "distance": float,
  "scan": str,
  "path_id": int,
  "path": [str x num_steps],
  "heading": float,
  "instructions": [str x 3],
}
  • distance: length of the path in meters.
  • scan: Matterport scan id.
  • path_id: Unique id for this path.
  • path: List of viewpoint ids (the first is is the start location, the last is the goal location)
  • heading: Agents initial heading in radians (elevation is always assumed to be zero).
  • instructions: Three unique natural language strings describing how to find the goal given the start pose.

For the test set, only the first path_id (starting location) is included. We will provide a test server for scoring uploaded trajectories according to the metrics in the paper.

Directory Structure

  • env.py: Wraps the simulator and adds language instructions, with several simplifications -- namely discretized heading / elevation and pre-cached image features. This is not intended to be a standard component, or to preclude the use of continous camera actions, end-to-end training etc. Use the simulator and the data as you see fit, but this can provide a starting point.
  • utils.py: Text pre-processing, navigation graph loading etc.
  • eval.py: Evaluation script.
  • model.py: PyTorch seq2seq model with attention.
  • agent.py: Various implementations of an agent.
  • train.py: Training entrypoint, parameter settings etc.
  • plot.py: Figures from the arXiv paper.

Prerequisites

Python 2, PyTorch, NetworkX. Install python dependencies by running:

pip install -r /tasks/R2R/requirements.txt

Training and Evaluation

To train the seq2seq model with student-forcing:

python tasks/R2R/train.py

To run some simple baselines:

python tasks/R2R/eval.py

Generate figures from the paper:

python tasks/R2R/plot.py

The simple baselines include:

  • ShortestAgent: Agent that always follows the shortest path to goal (foundation for supervised training).
  • RandomAgent: Agent that randomly picks a directly, then tries to go straight for 5 viewpoints.
  • StopAgent: Agent that remains at the starting position.

Navigation Error