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real object nav (supercedes objnav refactor) #17

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real object nav (supercedes objnav refactor) #17

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Commits on May 6, 2022

  1. functional training with basic/process-testing motion noise

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  2. agent motion noise models as imported classes, habitat noise, and age… 

    …nt belief in nominal motion
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  3. fix cherry-pick

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  4. debugged belief state with traj viz and included knowledge of failed … 

    …actions
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  5. cleanup

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  6. procthor branch env updates

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  7. add noise to stretch env

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  8. testing noisy motion, same sensors

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  9. *pointnavemul stretch sensors with dead reckoning implemented for fur… 

    …ther testing
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  10. functional training for *pointnavemul dead reckoning sensors on stret… 

    …ch with noisy motion
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  11. add random motion for failed nominal action and increse failed action… 

    … penalty - hope better for real
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Commits on May 24, 2022

  1. objnav config and sampler refactor 1 - did not work

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  2. refactor 2

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  3. refactor 3 - complete 2camera

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  4. refactor 4 - cleanup and condense

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  5. refactor 5 - update and test other experiment configs (narrow, roboth… 

    …or, ithor)
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  6. incorporate kiana changs to viz

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Commits on May 25, 2022

  1. fix cherry-pick

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    rosehendrix committed May 25, 2022
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  2. complete refactor 6 - n-camera model and preprocessors to mixin, prop… 

    …rocessor from allenact, better leverage class inheritance for procthor sampler args, trim down configs with inheritance, delete obselete files
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Commits on May 26, 2022

  1. update training pipeline for distributed nodes

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  2. reshuffle - new home for all objectnav

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    rosehendrix committed May 26, 2022
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  3. start real robothor

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  4. rename to reflect stretch only

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  5. shuffle and rename task and sampler, and add real stretch versions of… 

    … same
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  6. apparently functional real stretch objectnav

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Commits on May 27, 2022

  1. working robothor + visualizer

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Commits on May 31, 2022

  1. real robothor eval fixes + conveniences

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  2. more trying to debug

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Commits on Jun 2, 2022

  1. support for default and locobot agents on objectnav, addition of sing… 

    …le-camera ithor-style robothor testing to compare with procthor-style robothor testing
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Commits on Jun 3, 2022

  1. add multiserver training, update experiment tagging and easily swappe… 

    …d agents, verify arm stowed and increase visibility distance for stretch
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Commits on Jun 6, 2022

  1. debugging updates, distributed eval, update server machine param def … 

    …to be modeled on procthor repo instead as experiment, add exact procthor model + preprocessor and action order for weights loading
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  2. debugging

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Commits on Jun 8, 2022

  1. working imported weights replication

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Commits on Jun 9, 2022

  1. class inheritance refactor/separation for objectnav, procthor locobot… 

    … training replication experiments, still some cleanup and refactor to do
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Commits on Jun 10, 2022

  1. more refactor, finish replication and start single-camera training va… 

    …riants on stretch
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Commits on Jun 11, 2022

  1. start 2-camera training with fixed horizon 15, fix shaping weight

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Commits on Jun 13, 2022

  1. locobot training replication settings reset

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    rosehendrix committed Jun 13, 2022
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  2. 2-camera zero horizon training run checkpoint

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Commits on Jun 14, 2022

  1. verified functional locobot procthor training with neck - goes with v… 

    …ision-server6 weights
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    rosehendrix committed Jun 14, 2022
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Commits on Jun 15, 2022

  1. stretch 2-camera functional checkpoint

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  2. update ithor style testing and minor refactors

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Commits on Jun 17, 2022

  1. add kinect camera segmentation success task, set success distance in … 

    …task sampler, minor qol updates to real episodes
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    rosehendrix committed Jun 17, 2022
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  2. add easy 10 robothor objectnav tasks

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    rosehendrix committed Jun 17, 2022
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Commits on Jun 18, 2022

  1. Merge pull request #18 from allenai/stretch_motion_noise 

    Stretch motion noise into objectnav work
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    rosehendrix committed Jun 18, 2022
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Commits on Jun 21, 2022

  1. functional stochastic procthor training, 2 camera wide FOV

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Commits on Jun 22, 2022

  1. add task that ends with penalty for repeated action failure

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    rosehendrix committed Jun 22, 2022
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Commits on Jun 24, 2022

  1. qol updates for real robothor eval, stochastic testing

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Commits on Jun 29, 2022

  1. add task more like real with episode failure for repeated action failure

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Commits on Jun 30, 2022

  1. action failure multinode training run begin

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    rosehendrix committed Jun 30, 2022
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Commits on Jul 7, 2022

  1. fix insufficiently strict action failure identifier

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    rosehendrix committed Jul 7, 2022
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Commits on Jul 9, 2022

  1. basic color correct and viz for kinect cam

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Commits on Jul 12, 2022

  1. exploration reward and additional metrics implemented

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    rosehendrix committed Jul 12, 2022
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Commits on Jul 15, 2022

  1. move action stats upstream, reduce exploration reward and start multi… 

    …node shaping -> exploration fnetune
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Commits on Jul 19, 2022

  1. fine-tuning in robothor with lighting randomization and exploration

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    rosehendrix committed Jul 19, 2022
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