ScanBot: Autonomous Reconstruction via Deep Reinforcement Learning

autoscanning system capable of exploring, reconstructing, and understanding an unknown scene within one navigation pass by using deep reinforcement learning.

Install Dependencies

This code is tested on Ubuntu 20.04. We use earlier versions of habitat-sim and habitat-lab. The specific commits are mentioned below.

Installing habitat-sim:

git clone https://github.com/facebookresearch/habitat-sim.git
cd habitat-sim; git checkout 011191f65f37587f5a5452a93d840b5684593a00;
pip install -r requirements.txt; 
sudo apt-get install -y --no-install-recommends \
     libjpeg-dev libglm-dev libgl1-mesa-glx libegl1-mesa-dev mesa-utils xorg-dev freeglut3-dev
python setup.py install --headless --with-cuda

Installing habitat-lab:

git clone https://github.com/facebookresearch/habitat-lab.git
cd habitat-lab; git checkout c5729353e8ec4a4058de55845cec371994f6a7f1;
pip install -r requirements.txt; 
python setup.py develop --all

Installing Open3d:

git clone https://github.com/isl-org/Open3D
# Only needed for Ubuntu
util/install_deps_ubuntu.sh
cd Open3d
git clone https://github.com/isl-org/Open3D-ML.git
mkdir build && cd build
cmake -DBUILD_CUDA_MODULE=ON \
      -DBUILD_PYTORCH_OPS=ON \
      -DBUNDLE_OPEN3D_ML=ON \
      -DOPEN3D_ML_ROOT=$PWD/../Open3D-ML \
      -DUSE_SYSTEM_JPEG=ON \
      -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
      -DBUILD_CACHED_CUDA_MANAGER=OFF \
 ..
 make -j install-pip-package

Other requirements include:

• cuda
• pybind11

Download and Installation

Firstly, you need to build pybind .so library for path_finder and channels_constructor After executing following commands, a astar_path_finder.cpython-XXm-x86_64-linux-gnu.so and a channels_constructor.cpython-XXm-x86_64-linux-gnu.so library will appear in habitat_scanbot2d, in which XX is your python version.

git clone https://github.com/HezhiCao/scanbot.git
cd scanbot
pip install -e .
cd habitat_scanbot2d/torch_extensions
python setup.py build
cd .. # suppose you are in habitat_scanbot2d
ln -s torch_extensions/build/lib.linux-x86_64-cpython-37/channels_constructor.cpython-XXm-x86_64-linux-gnu.so .

The code requires datasets in a data folder in the following format (same as habitat-lab). The val, val_mini episodes of mp3d and gibson in pointnav folder are merged correspondingly, and episodes of gibson are copied to train/content folder:

habitat_scanbot2d
└── data
    ├── datasets
    │   └── pointnav
    │       └── mp3d_gibson
    │           └── v1
    │               ├── test
    │               │   └── test.json.gz
    │               ├── train
    │               │   ├── content
    │               │   │   ├── Albertville.json.gz
    │               │   │   ├── 17DRP5sb8fy.json.gz
    │               │   │   └── ...
    │               │   └── train.json.gz
    │               ├── val
    │               │   └── val.json.gz
    │               └── val_mini
    │                   └── val_mini.json.gz
    └── scene_datasets
        ├── gibson
        │   ├── Albertville.glb
        │   ├── Albertville.navmesh
        │   └── ...
        └── mp3d
            ├── 17DRP5sb8fy
            │   ├── 17DRP5sb8fy.glb
            │   ├── 17DRP5sb8fy.navmesh
            │   └── ...
            ├── 1LXtFkjw3qL
            │   ├── 1LXtFkjw3qL.glb
            │   ├── 1LXtFkjw3qL.navmesh
            │   └── ...
            └── ...

Please download the data using the instructions here: https://github.com/facebookresearch/habitat-lab#datasets

Then regenerate navmesh to forbid cross-floor navigation:

cd habitat_scanbot2d
python scripts/navmesh_generator.py -d data/scene_datasets/mp3d
python scripts/navmesh_generator.py -d data/scene_datasets/gibson

Train & Test

GLobal Policy

After training, the model will be saved in data/new_checkpoints, as well as training logs in train.log file

python3 global_training.py

Multiple GPUs

cd habitat_scanbot2d
./train.sh

You can investigate some statistics using evaluation

python3 global_evaluation.py

Local Policy

We will update the local policy soon.

Citation

If you use this code for your research, please cite our paper:

@article {cao2023scanbot,
    author   = {Hezhi Cao, Xi Xia, Guan Wu, Ruizhen Hu, and Ligang Liu},
    title    = {ScanBot: Autonomous Reconstruction via Deep Reinforcement Learning},
    journal  = {ACM Transactions on Graphics (SIGGRAPH 2023)},
    volume   = {42},
    number   = {4},
    pages    = {Article 235},
    year     = {2023}
    }

Acknowledgement

We thank the anonymous reviewers for their valuable comments and suggestions. This work is supported by the National Key R&D Program of China (2022YFB3303400), National Natural Science Foundation of China (62025207), Guangdong Natural Science Foundation (2021B1515020085), and Shenzhen Science and Technology Program (RCYX20210609103121030).

Contact

If you have some ideas or questions about our research to share with us, please contact caohezhi21@mail.ustc.edu.cn