[Question]: Inquiry about the code for generating ground truth trajectories (trajectory_data) for NavDP training

[nightgoodl]

Question

Thank you for your excellent work on the InternNav and the NavDP model!

I'm trying to train a NavDP model on my own reconstructed 3D scenes (in mesh format). To do this, I need to generate the ground truth trajectory_data that is used for training.

From the NavDP paper, I understand that the trajectories are generated through a simulation-based data generation pipeline involving a robot model, trajectory generation with global maps, and a critic function .

My questions are:

Is the code for this navigation data generation pipeline publicly available in this repository or elsewhere? I couldn't find it in the current codebase and would be very grateful for any guidance.
If the code isn't available, could you please provide some high-level advice on how to generate such GT trajectories? Specifically, for a custom scene (a .glb/.ply mesh), what's the recommended way to produce the trajectory_data within the Habitat/Isaac Sim that InternNav uses?
Thank you for your time and support!

[wzcai99]

Hi, thanks for your interest in our work. The data generation pipeline will not be open-sourced recently, but it is not very difficult to generate such GT trajectories with mesh/pointcloud available and Open3D here are some detailed suggestions:
(1) Build the occupancy map with the mesh or point cloud
(2) Segment the floor with either semantic labels or floor height. A useful implementation can be referenced here https://github.com/hovsg/HOV-SG/blob/a7f60c814bd349495e3c8ecd0f7507cab14306e5/hovsg/graph/graph.py#L262.
(3) Build the ESDF map with respect to the segmented floor areas. A straightforward way is to use the open3d.compute_point_cloud_distance.
(4) Then, the A-star path can be calculated with respect to the ESDF map. A useful implementation would be https://pypi.org/project/pathfinding/.
(5) Finally, you can interpolate the path to make it smoother and introduce path optimization to get better results.

[worker16542]

你好，关于训练S2系统时的像素点请问是如何采集的呢