ALFRED

A Benchmark for Interpreting Grounded Instructions for Everyday Tasks
Mohit Shridhar, Jesse Thomason, Daniel Gordon, Yonatan Bisk,
Winson Han, Roozbeh Mottaghi, Luke Zettlemoyer, Dieter Fox
CVPR 2020

ALFRED (Action Learning From Realistic Environments and Directives), is a new benchmark for learning a mapping from natural language instructions and egocentric vision to sequences of actions for household tasks. Long composition rollouts with non-reversible state changes are among the phenomena we include to shrink the gap between research benchmarks and real-world applications.

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Quickstart

Clone repo:

$ git clone https://github.com/askforalfred/alfred.git alfred
$ export ALFRED_ROOT=$(pwd)/alfred

Install requirements:

$ virtualenv -p $(which python3) --system-site-packages alfred_env # or whichever package manager you prefer
$ source alfred_env/bin/activate

$ cd $ALFRED_ROOT
$ pip install --upgrade pip
$ pip install -r requirements.txt

Download Trajectory JSONs and Resnet feats (~198GB):

$ cd $ALFRED_ROOT/data
$ sh download_data.sh json_feat

Train models:

$ cd $ALFRED_ROOT
$ python models/train/train_seq2seq.py --data data/json_feat_2.1.0 --model seq2seq_im_mask --dout exp/model:{model},name:pm_and_subgoals_01 --splits data/splits/oct21.json --gpu --batch 8 --pm_aux_loss_wt 0.2 --subgoal_aux_loss_wt 0.2

More Info

• Dataset: Downloading full dataset, Folder structure, JSON structure.
• Models: Training and Evaluation, File structure, Pre-trained models.
• Data Generation: Generation, Replay Checks, Data Augmentation (high-res, depth, segementation masks etc).

Prerequisites

• Python 3
• PyTorch 1.1.0
• Torchvision 1.3.0
• AI2THOR 2.1.0

See requirements.txt for all prerequisites

Leaderboard

Run your model on test seen and unseen sets, and create an action-sequence dump of your agent:

$ cd $ALFRED_ROOT
$ python models/eval/leaderboard.py --model_path <model_path>/model.pth --model models.model.seq2seq_im_mask --data data/json_feat_2.1.0 --gpu --num_threads 5

This will create a JSON file, e.g. task_results_20191218_081448_662435.json, inside the <model_path> folder. Submit this JSON here: AI2 ALFRED Leaderboard. For rules and restrictions, see the getting started page.

Docker Setup

Coming soon ...

Cloud Instance

See this article for setting-up THOR on cloud-instances.

Citation

If you find the dataset or code useful, please cite:

@inproceedings{ALFRED20,
  title ={{ALFRED: A Benchmark for Interpreting Grounded
           Instructions for Everyday Tasks}},
  author={Mohit Shridhar and Jesse Thomason and Daniel Gordon and Yonatan Bisk and
          Winson Han and Roozbeh Mottaghi and Luke Zettlemoyer and Dieter Fox},
  booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2020},
  url  = {https://arxiv.org/abs/1912.01734}
}

License

MIT License

Contact

Questions or issues? Contact askforalfred@googlegroups.com