kemono-habitat-2022

Kemono agent for habitat challenge 2022

Kemono agent is a pure-rule-based object-goal-navigation agent. It can achieve SPL 0.3099 and SUCCESS 0.58 on the test-standard phase of habitat challenge 2022.

demo.mp4

version: v0.0.2

It uses the following packages:

• Ending2015a/dungeon_maps: A highly accurate semantic top-down mapper
• Ending2015a/rlchemy: Reinforcement Learning package

Performance

Version	SPL	SUCCESS
v0.0.2	0.3136	0.571
v0.0.1	0.3099	0.58

Evaluate on Local Machine

1. Download the pretrained RedNet checkpoint here, place it at Kemono/weights/*.ckpt
2. Build the docker by the following command

bash scripts/docker-build

3. Setup the following variables:

export HABITAT_DATA_DIR="/path/to/your/habitat-challenge-data"
export HABITAT_LOG_DIR="/path/to/your/log/dir"

4. Start a container and run the evaluation process:
   • Non-interactive mode

     bash scripts/docker-start

   • Interactive mode (bash)

     bash scripts/docker-start --bash
     . activate habitat
     bash ./scripts/evaluation.sh

Submit to EvalAI

bash scripts/docker-build --remote --submit
# submission command refer to the challenge page
evalai ....