Added ObjectNav task definition, dataset, metrics, goal sensor

README.md

@@ -159,6 +159,7 @@ Download the Habitat related Gibson dataset following the instructions [here](ht
 | --- | --- | --- | --- | --- | --- |
 | [Point goal navigation](https://arxiv.org/abs/1807.06757) | 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 navigation](https://arxiv.org/abs/1807.06757) | 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 |
+| Object goal navigation | MatterPort3D | [objectnav_mp3d_v0.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/m3d/v0/objectnav_mp3d_v0.zip) | `data/datasets/objectnav/mp3d/v0/` | [`datasets/objectnav/mp3d.yaml`](configs/datasets/objectnav/mp3d.yaml) | 4 GB |
 | [Embodied Question Answering](https://embodiedqa.org/) | MatterPort3D | [eqa_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/eqa/mp3d/v1/eqa_mp3d_v1.zip) | `data/datasets/eqa/mp3d/v1/` | [`datasets/eqa/mp3d.yaml`](configs/datasets/eqa/mp3d.yaml) | 44 MB |
 | [Visual Language Navigation](https://bringmeaspoon.org/) | MatterPort3D | [vln_r2r_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/vln/mp3d/r2r/v1/vln_r2r_mp3d_v1.zip) | `data/datasets/vln/mp3d/r2r/v1` | [`datasets/vln/mp3d_r2r.yaml`](configs/datasets/vln/mp3d_r2r.yaml) | 2.7 MB |
 

configs/datasets/objectnav/mp3d.yaml

@@ -0,0 +1,4 @@
+DATASET:
+  TYPE: ObjectNav-v1
+  SPLIT: train
+  DATA_PATH: data/datasets/objectnav/mp3d/v0/{split}/{split}.json.gz

configs/tasks/obj_nav_mp3d.yaml

@@ -0,0 +1,47 @@
+ENVIRONMENT:
+  MAX_EPISODE_STEPS: 500
+SIMULATOR:
+  TURN_ANGLE: 30
+  TILT_ANGLE: 30
+  AGENT_0:
+    SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR']
+    HEIGHT: 0.88
+    RADIUS: 0.2
+  HABITAT_SIM_V0:
+    GPU_DEVICE_ID: 0
+  SEMANTIC_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    POSITION: [0, 0.88, 0]
+  RGB_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    POSITION: [0, 0.88, 0]
+  DEPTH_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    MIN_DEPTH: 0.5
+    MAX_DEPTH: 5.0
+    POSITION: [0, 0.88, 0]
+TASK:
+  TYPE: ObjectNav-v1
+  SUCCESS_DISTANCE: 0.1
+
+  SENSORS: ['OBJECTGOAL_SENSOR']
+  GOAL_SENSOR_UUID: objectgoal
+
+  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SPL']
+  SPL:
+    TYPE: SPL
+    DISTANCE_TO: VIEW_POINTS
+    SUCCESS_DISTANCE: 0.2
+
+DATASET:
+  TYPE: ObjectNav-v1
+  SPLIT: val
+  CONTENT_SCENES: []
+  DATA_PATH: "data/datasets/objectnav/mp3d/v1/{split}/{split}.json.gz"
+  SCENES_DIR: "data/scene_datasets/"

configs/tasks/objectnav_mp3d.yaml

@@ -0,0 +1,51 @@
+ENVIRONMENT:
+  MAX_EPISODE_STEPS: 500
+SIMULATOR:
+  TURN_ANGLE: 30
+  TILT_ANGLE: 30
+  ACTION_SPACE_CONFIG: "v1"
+  AGENT_0:
+    SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR']
+    HEIGHT: 0.88
+    RADIUS: 0.2
+  HABITAT_SIM_V0:
+    GPU_DEVICE_ID: 0
+  SEMANTIC_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    POSITION: [0, 0.88, 0]
+  RGB_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    POSITION: [0, 0.88, 0]
+  DEPTH_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    MIN_DEPTH: 0.5
+    MAX_DEPTH: 5.0
+    POSITION: [0, 0.88, 0]
+TASK:
+  TYPE: ObjectNav-v1
+  POSSIBLE_ACTIONS: ["STOP", "MOVE_FORWARD", "TURN_LEFT", "TURN_RIGHT", "LOOK_UP", "LOOK_DOWN"]
+  SUCCESS_DISTANCE: 0.1
+
+  SENSORS: ['OBJECTGOAL_SENSOR', 'COMPASS_SENSOR', 'GPS_SENSOR']
+  GOAL_SENSOR_UUID: objectgoal
+
+  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SPL']
+  SPL:
+    TYPE: SPL
+    DISTANCE_TO: VIEW_POINTS
+    SUCCESS_DISTANCE: 0.2
+  DISTANCE_TO_GOAL:
+    DISTANCE_TO: VIEW_POINTS
+
+DATASET:
+  TYPE: ObjectNav-v1
+  SPLIT: val
+  CONTENT_SCENES: []
+  DATA_PATH: "data/datasets/objectnav/mp3d/v0/{split}/{split}.json.gz"
+  SCENES_DIR: "data/scene_datasets/"

configs/tasks/pointnav.yaml

@@ -21,7 +21,7 @@ TASK:
     DIMENSIONALITY: 2
   GOAL_SENSOR_UUID: pointgoal_with_gps_compass
 
-  MEASUREMENTS: ['SPL']
+  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SPL']
   SPL:
     TYPE: SPL
     SUCCESS_DISTANCE: 0.2

configs/tasks/pointnav_gibson.yaml

@@ -21,7 +21,7 @@ TASK:
     DIMENSIONALITY: 2
   GOAL_SENSOR_UUID: pointgoal_with_gps_compass
 
-  MEASUREMENTS: ['SPL']
+  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SPL']
   SPL:
     TYPE: SPL
     SUCCESS_DISTANCE: 0.2

configs/tasks/pointnav_mp3d.yaml

@@ -21,7 +21,7 @@ TASK:
     DIMENSIONALITY: 2
   GOAL_SENSOR_UUID: pointgoal_with_gps_compass
 
-  MEASUREMENTS: ['SPL']
+  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SPL']
   SPL:
     TYPE: SPL
     SUCCESS_DISTANCE: 0.2

configs/tasks/pointnav_rgbd.yaml

@@ -21,7 +21,7 @@ TASK:
     DIMENSIONALITY: 2
   GOAL_SENSOR_UUID: pointgoal_with_gps_compass
 
-  MEASUREMENTS: ['SPL']
+  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SPL']
   SPL:
     TYPE: SPL
     SUCCESS_DISTANCE: 0.2

configs/tasks/vln_r2r.yaml

@@ -21,7 +21,7 @@ TASK:
   SENSORS: ['INSTRUCTION_SENSOR']
   INSTRUCTION_SENSOR_UUID: instruction
   POSSIBLE_ACTIONS: ['STOP', 'MOVE_FORWARD', 'TURN_LEFT', 'TURN_RIGHT']
-  MEASUREMENTS: ['SPL']
+  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SPL']
   SPL:
     TYPE: SPL
     SUCCESS_DISTANCE: 3.0

configs/test/habitat_all_sensors_test.yaml

@@ -25,7 +25,7 @@ TASK:
     DIMENSIONALITY: 2
   GOAL_SENSOR_UUID: pointgoal_with_gps_compass
 
-  MEASUREMENTS: ['SPL']
+  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SPL']
   SPL:
     TYPE: SPL
     SUCCESS_DISTANCE: 0.2

configs/test/habitat_mp3d_object_nav_test.yaml

@@ -0,0 +1,51 @@
+ENVIRONMENT:
+  MAX_EPISODE_STEPS: 500
+SIMULATOR:
+  TURN_ANGLE: 30
+  TILT_ANGLE: 30
+  ACTION_SPACE_CONFIG: "v1"
+  AGENT_0:
+    SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR']
+    HEIGHT: 0.88
+    RADIUS: 0.2
+  HABITAT_SIM_V0:
+    GPU_DEVICE_ID: 0
+  SEMANTIC_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    POSITION: [0, 0.88, 0]
+  RGB_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    POSITION: [0, 0.88, 0]
+  DEPTH_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    MIN_DEPTH: 0.5
+    MAX_DEPTH: 5.0
+    POSITION: [0, 0.88, 0]
+TASK:
+  TYPE: ObjectNav-v1
+  POSSIBLE_ACTIONS: ["STOP", "MOVE_FORWARD", "TURN_LEFT", "TURN_RIGHT", "LOOK_UP", "LOOK_DOWN"]
+  SUCCESS_DISTANCE: 0.1
+
+  SENSORS: ['OBJECTGOAL_SENSOR', 'COMPASS_SENSOR', 'GPS_SENSOR']
+  GOAL_SENSOR_UUID: objectgoal
+
+  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SPL']
+  SPL:
+    TYPE: SPL
+    DISTANCE_TO: VIEW_POINTS
+    SUCCESS_DISTANCE: 0.2
+  DISTANCE_TO_GOAL:
+    DISTANCE_TO: VIEW_POINTS
+
+DATASET:
+  TYPE: ObjectNav-v1
+  SPLIT: mini_val
+  CONTENT_SCENES: []
+  DATA_PATH: "data/datasets/objectnav/mp3d/v0/{split}/{split}.json.gz"
+  SCENES_DIR: "data/scene_datasets/"

configs/test/habitat_r2r_vln_test.yaml

@@ -21,7 +21,7 @@ TASK:
     DIMENSIONALITY: 2
   GOAL_SENSOR_UUID: pointgoal_with_gps_compass
   INSTRUCTION_SENSOR_UUID: instruction
-  MEASUREMENTS: ['SPL']
+  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SPL']
   SPL:
     TYPE: SPL
     SUCCESS_DISTANCE: 3.0

examples/shortest_path_follower_example.py

@@ -95,7 +95,7 @@ def shortest_path_example(mode):
             observations, reward, done, info = env.step(best_action)
             im = observations["rgb"]
             top_down_map = draw_top_down_map(
-                info, observations["heading"], im.shape[0]
+                info, observations["heading"][0], im.shape[0]
             )
             output_im = np.concatenate((im, top_down_map), axis=1)
             images.append(output_im)

habitat/config/default.py

@@ -94,6 +94,13 @@ def __init__(self, *args, **kwargs):
     "PointGoalWithGPSCompassSensor"
 )
 # -----------------------------------------------------------------------------
+# OBJECTGOAL SENSOR
+# -----------------------------------------------------------------------------
+_C.TASK.OBJECTGOAL_SENSOR = CN()
+_C.TASK.OBJECTGOAL_SENSOR.TYPE = "ObjectGoalSensor"
+_C.TASK.OBJECTGOAL_SENSOR.GOAL_SPEC = "TASK_CATEGORY_ID"
+_C.TASK.OBJECTGOAL_SENSOR.GOAL_SPEC_MAX_VAL = 50
+# -----------------------------------------------------------------------------
 # HEADING SENSOR
 # -----------------------------------------------------------------------------
 _C.TASK.HEADING_SENSOR = CN()
@@ -130,13 +137,17 @@ def __init__(self, *args, **kwargs):
 _C.TASK.TOP_DOWN_MAP.MAP_PADDING = 3
 _C.TASK.TOP_DOWN_MAP.NUM_TOPDOWN_MAP_SAMPLE_POINTS = 20000
 _C.TASK.TOP_DOWN_MAP.MAP_RESOLUTION = 1250
-_C.TASK.TOP_DOWN_MAP.DRAW_SOURCE_AND_TARGET = True
+_C.TASK.TOP_DOWN_MAP.DRAW_SOURCE = True
 _C.TASK.TOP_DOWN_MAP.DRAW_BORDER = True
 _C.TASK.TOP_DOWN_MAP.DRAW_SHORTEST_PATH = True
 _C.TASK.TOP_DOWN_MAP.FOG_OF_WAR = CN()
 _C.TASK.TOP_DOWN_MAP.FOG_OF_WAR.DRAW = True
 _C.TASK.TOP_DOWN_MAP.FOG_OF_WAR.VISIBILITY_DIST = 5.0
 _C.TASK.TOP_DOWN_MAP.FOG_OF_WAR.FOV = 90
+_C.TASK.TOP_DOWN_MAP.DRAW_VIEW_POINTS = True
+_C.TASK.TOP_DOWN_MAP.DRAW_GOAL_POSITIONS = True
+# Axes aligned bounding boxes
+_C.TASK.TOP_DOWN_MAP.DRAW_GOAL_AABBS = True
 # -----------------------------------------------------------------------------
 # COLLISIONS MEASUREMENT
 # -----------------------------------------------------------------------------
@@ -173,6 +184,7 @@ def __init__(self, *args, **kwargs):
 # -----------------------------------------------------------------------------
 _C.TASK.DISTANCE_TO_GOAL = CN()
 _C.TASK.DISTANCE_TO_GOAL.TYPE = "DistanceToGoal"
+_C.TASK.DISTANCE_TO_GOAL.DISTANCE_TO = "POINT"
 # -----------------------------------------------------------------------------
 # # ANSWER_ACCURACY MEASUREMENT
 # -----------------------------------------------------------------------------
@@ -210,8 +222,8 @@ def __init__(self, *args, **kwargs):
 # -----------------------------------------------------------------------------
 _C.SIMULATOR.DEPTH_SENSOR = SIMULATOR_SENSOR.clone()
 _C.SIMULATOR.DEPTH_SENSOR.TYPE = "HabitatSimDepthSensor"
-_C.SIMULATOR.DEPTH_SENSOR.MIN_DEPTH = 0
-_C.SIMULATOR.DEPTH_SENSOR.MAX_DEPTH = 10
+_C.SIMULATOR.DEPTH_SENSOR.MIN_DEPTH = 0.0
+_C.SIMULATOR.DEPTH_SENSOR.MAX_DEPTH = 10.0
 _C.SIMULATOR.DEPTH_SENSOR.NORMALIZE_DEPTH = True
 # -----------------------------------------------------------------------------
 # SEMANTIC SENSOR

habitat/core/embodied_task.py

@@ -8,7 +8,7 @@
 """
 
 from collections import OrderedDict
-from typing import Any, Dict, Iterable, Optional, Type, Union
+from typing import Any, Dict, Iterable, List, Optional, Type, Union
 
 import numpy as np
 
@@ -175,6 +175,31 @@ def get_metrics(self) -> Metrics:
         """
         return Metrics(self.measures)
 
+    def _get_measure_index(self, measure_name):
+        return list(self.measures.keys()).index(measure_name)
+
+    def check_measure_dependencies(
+        self, measure_name: str, dependencies: List[str]
+    ):
+        r"""Checks if dependencies measures are enabled and calculatethat the measure
+        :param measure_name: a name of the measure for which has dependencies.
+        :param dependencies: a list of a measure names that are required by
+        the measure.
+        :return:
+        """
+        measure_index = self._get_measure_index(measure_name)
+        for dependency_measure in dependencies:
+            assert (
+                dependency_measure in self.measures
+            ), f"""{measure_name} measure requires {dependency_measure}
+                listed in tje measures list in the config."""
+
+        for dependency_measure in dependencies:
+            assert measure_index > self._get_measure_index(
+                dependency_measure
+            ), f"""{measure_name} measure requires be listed after {dependency_measure}
+                in tje measures list in the config."""
+
 
 class EmbodiedTask:
     r"""Base class for embodied tasks. ``EmbodiedTask`` holds definition of