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View Code? Open in Web Editor NEWOfficial GitHub Repository for paper "Visual Graph Memory with Unsupervised Representation for Visual Navigation", ICCV 2021
License: Other
Official GitHub Repository for paper "Visual Graph Memory with Unsupervised Representation for Visual Navigation", ICCV 2021
License: Other
@obin-hero Hello! I've got some issues when training VGM models from scratch using the config file "vgm.yaml".
I followed your training routines expounded in your 《Visual Graph Memory》supplementary, training a VGM model using imitation learning until exact overfitting, and then fine-tuning it using PPO for 10M frames.
The two phases of training are shown below:
(Note: the RL training was interrupted and resumed from the 1M-th frame, so the end is the 9M-th frame)
My issue is that my model at 10M-th frame underperforms the pre-trained model “VGM_ILRL.pth”. Their performances on the public image-goal nav dataset are compared below:
I wonder why there is so large a gap between the two models, given that the random seeds and RL training frames are unchanged.
Did you pick the model ("VGM_ILRL.pth") with the highest performance within a range centering around the 10M-th frame, or the very model at the 10M-th frame?
I really appreciate it if you provide me with some hints.
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@obin-hero Hello! I've got some issues when I run python collect_IL_data.py .
My habitat version is v0.1.7 and habitat-sim version is v0.1.7.
I install them in the commit version mentioned in your README.md
There is an error:
"""
SPACE[000/014] STARTED Cantwell
/home/qiming/anaconda3/envs/vgm/lib/python3.6/site-packages/sklearn/base.py:315: UserWarning: Trying to unpickle estimator GaussianMixture from version 0.22.2.post1 when using version 0.24.2. This might lead to breaking code or invalid results. Use at your own risk.
UserWarning)
2023-04-24 21:02:40,059 initializing sim Sim-0
Process ForkServerProcess-1:
Traceback (most recent call last):
File "/home/qiming/Visual-Graph-Memory-master/env_utils/custom_habitat_sim.py", line 120, in create_sim_config
"angle"
File "/home/qiming/habitat-lab/habitat/sims/habitat_simulator/habitat_simulator.py", line 78, in overwrite_config
"""
NameError: position is not found on habitat_sim but is found on habitat_lab config.
It's also not in the list of keys to ignore: {'min_depth', 'hfov', 'max_depth', 'type', 'width', 'normalize_depth', 'height', 'angle'}
Did you make a typo in the config?
If not the version of Habitat Sim may not be compatible with Habitat Lab version: ANGLE: 0
HEIGHT: 64
HFOV: 30
ORIENTATION: [0, 2.6179938779914944, 0]
POSITION: [0, 0.88, 0]
TYPE: PanoramicPartRGBSensor
WIDTH: 21
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/qiming/anaconda3/envs/vgm/lib/python3.6/multiprocessing/process.py", line 258, in _bootstrap
self.run()
File "/home/qiming/anaconda3/envs/vgm/lib/python3.6/multiprocessing/process.py", line 93, in run
self._target(*self._args, **self._kwargs)
File "/home/qiming/anaconda3/envs/vgm/lib/python3.6/contextlib.py", line 52, in inner
return func(*args, **kwds)
File "/home/qiming/habitat-lab/habitat/core/vector_env.py", line 233, in _worker_env
env = env_fn(*env_fn_args)
File "/home/qiming/Visual-Graph-Memory-master/collect_IL_data.py", line 31, in make_env_fn
env = MultiSearchEnv(config=config_env)
File "/home/qiming/Visual-Graph-Memory-master/env_utils/task_search_env.py", line 91, in init
super().init(self._core_env_config, dataset)
File "/home/qiming/Visual-Graph-Memory-master/env_utils/custom_habitat_env.py", line 407, in init
self._env = Env(config)
File "/home/qiming/Visual-Graph-Memory-master/env_utils/custom_habitat_env.py", line 96, in init
id_sim=self._config.SIMULATOR.TYPE, config=self._config.SIMULATOR
File "/home/qiming/habitat-lab/habitat/sims/registration.py", line 19, in make_sim
return _sim(**kwargs)
File "/home/qiming/Visual-Graph-Memory-master/env_utils/custom_habitat_sim.py", line 66, in init
self.sim_config = self.create_sim_config(sensor_suites)
File "/home/qiming/Visual-Graph-Memory-master/env_utils/custom_habitat_sim.py", line 159, in create_sim_config
sim_sensor_cfg.parameters["hfov"] = str(sensor.config.HFOV)
AttributeError: 'habitat_sim._ext.habitat_sim_bindings.SensorSpec' object has no attribute 'parameters'
"""
Thanks a lot!
Hi, @obin-hero. Sorry for imposing on you again, but I was still confused about the performance of VGM models. I went over your experimental settings and found that you "tested 1,007 sampled episodes for each difficulty level". I tried testing the pretrained model on the first 1007 episodes out of 1400, but the SR and SPL were lower. I was wondering how these episodes were sampled.
If you kindly offer detailed info about these test episodes, I can make a fair comparison.
Thanks a lot!
@obin-hero I read your article "Visual Graph Memory with Unsupervised Representation for Visual Navigation" and found it inspiring. Last time you kindly answered my questions issued here, and your hints were helpful. I am now following your work and attempting to evaluate the baselines mentioned in your experiment section on my own test dataset.
I found that ANS, CNN + LSTM, SMT, Neural Planner and Exploration + SPTM were evaluated and compared in your paper. Some of these baselines were not designed for Habitat, so I found it hard to adapt their source code.
I was wondering whether you could share with me the re-implemented code used to assess these baselines in your experiments.
I will really appreciate it if you can provide me with some help.
My email is [email protected].
Thanks.
Can you share the code or steps like how to generate your PCL.pth?
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