Recent Releases of https://github.com/facebookresearch/habitat-lab
https://github.com/facebookresearch/habitat-lab - v0.3.3
Major features and improvements:
- github actions migration from circleci by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2111
- [BE] - remove circleci config and doc mentions by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2114
- [CI] - add pypi deployment to github actions workflow by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2112
- add pure region matching to the object->rec mapping util by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2124
- HITL - Update deprecated Magnum mouse APIs. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2130
Other changes and bugfixes:
- [BE] - remove outdated use of Simulator based bb drawing API by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2106
- [BE] - remove some missed pyrobot config by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2108
- fix numpy version by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2110
- Unpin protobuf and tensorboard requirements. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2118
- [BE] - remove all uses of getfastvideo_writer util by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2117
- HITL - Avoid logging IPs. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2120
- HITL - Null check for isobject_visible raycast. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2121
- --[BE] - Minor changes for compatibility with Eigen removal by @jturner65 in https://github.com/facebookresearch/habitat-lab/pull/2128
- Remove dead code in rearrange. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2131
- [bugfix] more sim magnum updates by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2133
- HITL - Move BaselinesController to its own file. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2122
- Add config type annotations to rearrange_sim. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2135
- Remove outdated information from HITL readmes. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2139
Full Changelog: https://github.com/facebookresearch/habitat-lab/compare/v0.3.2...v0.3.3
- Python
Published by aclegg3 about 1 year ago
https://github.com/facebookresearch/habitat-lab - v0.3.2
Major features and improvements:
Simulation Utilities: * ArticulatedLink Open/Close API by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1823 * defaultlink API and supporting changes by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1890 * "nextto" utility by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1871 * refactor nextto to use vertical overlap and horizontal L2 by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1918 * add vertical padding to nextto by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2014 * ObjectStateSpec, ObjectStateMachine base classes by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1842 * Better Receptacle filtering refactor by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1889 * rec filter generic subset type parsing with option of "withinset" by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1916 * Kinematic Relationship Manager by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1909 * Integrate KRM with RearrangeSim by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1927 * [bugfix] - skip floor in KRM init by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1948 * [BE] - KRM single parent refactor by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2004 * [bugfix] - re-initialize the KRM from episode contents in rearrangesim by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2064 * AnyObjectReceptacle by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1924 * sample points on the floor in a particular region by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1945 * Embodied Unoccluded Navmesh Snap util by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1949 * add ignore ids to unoccluded snap API by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1947 * ManagedObject to Receptacle matching by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2074 * DebugVisualizer: * DebugVisualizer: equirect, removal/deconstruction, image matrix util, and unit test by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1978 * DebuvVisualizer utility to show 3D points projected on dbv images by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1999 * add debug_draw callback to DebugVisualizer by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2066
Other changes and bugfixes:
- refactor snapdown supportsurface setup for AO links by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1946
- add receptacle filtering to rearrange_sim by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2053
- remove auto downloader from RearrangeDataset init by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1969
- RearrangeSim: Allow rigid objects to be collidable in kinematic mode by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1903
- Pass ao scaling through to scale the receptacle meshes also by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1881
- Predicate System Refactor by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1855
- guard against missing filter_type for backward compatability by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1941
- allow STATIC AOs in kinematic_mode by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1942
- unoccluded navmesh snap multiple ignores by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1943
- add ignoreobjectids to snap_down API by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1971
- refactor navmesh_utils SimpleVelocityControlEnv and de-duplicate by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1970
- [bugfix] - Fix a bug with snap_down on articulated links by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1982
- robustify
snap_down: use the joined render and collision bounding boxes for the snap point by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2010 - Refactor to support expanded Simulator reset in RearrangeTask by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2018
- New function to generate humanoid walking motion by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/2067
- [BE] - receptacle support surface object ids by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2073
- [bugfix] in support surface selection and KRM hard failure by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2083
- rearrange_sim no navmesh caching by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2088
- [BE] - fix inconsistent base_rot property by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2085
Human in the Loop (HiTL) Improvements:
* Fix receptacle import when multiple importers are present. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1869
* Handle null remote input. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1866
* Change server camera sync config name. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1867
* HITL: Add client message destination mask. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1868
* Add statistics to stub HITL client. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1864
* Add remote text rendering to HITL. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1865
* HITL - Add remote mouse input support. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1870
* HITL - Add typing for comms data dictionaries by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1874
* HITL - Change async network process loop. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1875
* HITL - Support multiple remote inputs. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1873
* HITL - Multiplayer GUI drawer. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1876
* HITL - Remove interprocess semaphore. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1878
* HITL - Add unit testing. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1877
* HITL - Use GuiDrawer instead of debug line render. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1879
* HITL - [Placeholder interface] Prevent placing objects when placement is impossible. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1882
* HITL: Add remote mouse ray support. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1891
* HITL - Fix left mouse click and draw box call. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1894
* [Logging] Add data logger to rearrangev2 app by @Ram81 in https://github.com/facebookresearch/habitat-lab/pull/1896
* [Task] Add Habitat-LLM episodes in rearrangev2 app by @Ram81 in https://github.com/facebookresearch/habitat-lab/pull/1833
* HITL - Improve reliability and exception logging of network loop. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1897
* HITL - Add line rendering, box rendering, push/pop transforms and circle normals. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1898
* HITL - Clear mouse held buttons in remote client state. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1899
* HITL - Add support for mouse position delta. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1901
* HITL - Fix occasional crash in keyframe consolidation. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1900
* HITL - Activate mouse look with middle mouse button. Adjust sensitivity. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1902
* HITL - Check for any input to determine idleness. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1907
* HITL - Automatically create output directories for recorder. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1906
* HITL - Add an event system to track connections and disconnections. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1905
* HITL - Mouse-based UI. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1908
* HITL - Add configuration to control episode iterator by episode ID. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1935
* HITL - Consolidate keyframe instance metadata. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1934
* HITL - Allow empty user masks and add users to dependency injection container. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1932
* HITL - Add S3 upload utility. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1929
* HITL - Add mock connection parameter config for testing purposes. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1930
* HITL - Add dedicated kick queue. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1931
* HITL - Add collaboration episode loader. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1933
* HITL - Move global world state into its own class + related bugfixes. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1928
* Multiplayer HITL by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1939
* HITL - Disallow placing objects onto held objects. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1951
* HITL - Add cross-process signal to toggle inflow of new connections. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1953
* Allow selection of the next episode using an index. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1952
* HITL - Make agents transparent to selection. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1950
* [HITL] Add task config for single-learn data collection by @Ram81 in https://github.com/facebookresearch/habitat-lab/pull/1926
* HITL - Make client loading state available to applications. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1955
* HITL - Add buttons and modal dialog boxes. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1956
* HITL - Add configuration to enable new connections by default. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1960
* HITL - Add textboxes. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1957
* HITL - Add picture-in-picture viewports. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1958
* HITL - Add object visbility handling and hide "self" in viewports. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1959
* HITL - Rearrange State Machine by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1964
* HITL - Rearrange session handling by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1965
* HITL - Data collection by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1967
* HITL - Add end episode form and error reporting by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1968
* HITL - Decouple agents from users. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1972
* HITL - Fix missing receptacle ids in place UI place events. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1984
* HITL - Add missing sim type hints. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1989
* HITL - Update rearrangev2 configs. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1986
* HITL - Synchronize UI with grasp manager. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1988
* HITL - Change key enums. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1985
* HITL - Simplify GuiApplication input handling. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1983
* HITL - Networking improvements. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2019
* HITL - Habitat LLM loader. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2021
* HITL - Immediately end sessions when all users are disconnected. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2025
* HITL - Add status API to availability server. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2023
* HITL - Handle task metrics. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2024
* HITL - Handle episode lists instead of ranges. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2026
HITL - Add region annotations. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2031
* HITL - Draw highlight circles around visible pickable objects. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2028
* HITL - Combine `setcameratransform()andshowviewport()` APIs. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2027
* HITL - Object outlining. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2030
* HITL - Add object states and categories. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2035
* HITL - Hide agents in the load screen. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2037
* HITL - Networked UI system by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2041
* HITL - Add KRM to HITL. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2043
* HITL - Add object state manipulation utility. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2042
* HITL - Add selection to rearrange_v2 UI. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2036
* HITL - Session Data Improvements by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2044
* HITL - Refactor RearrangeV2 configs. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2047
* HITL - UI bugfix. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2048
* [bugfix][hitl] - don't update krm when placing on floors by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2049
* HITL - Rename HITL output directory and ignore it. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2050
* HITL - Add hover information panel. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2057
* Allow disabling agent sensors auto-update. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2061
* HITL - Add selection panel and object state manipulation UI. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2058
* HITL - Add information to HITL output. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2059
* HITL - Add feedback screen. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2055
* HITL - Change object state check function signature. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2069
* HITL - Fix viewport visibility layer initialization. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2071
* HITL - Configure camera height based on the agent height. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2070
* HITL - Synchronize agent sensors with cameras. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2068
* HITL - Fix choppy continuous remote input. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2020
* HITL - Highlight default receptacles by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2075
* HITL - Remove redundant camera update. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2076
* HITL - Add metrics to HITL output. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2081
CI: * [CI] re-activate the config test after upstream sim fix by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1915 * [CI] close pddl sim after test by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1937 * [CI] - resolve sdist filepath issue by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1938 * Temporarily disable batch renderer training test. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1944 * [CI] - disable new clone protection for git lfs by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1961 * [BE/CI] - remove auto downloads by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1962
Other:
- Add autogenerated navmeshes to gitignore. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1963
- nan guards in snap point APIs for navmesh_utils by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1973
- Add missing typing hints to articulated agent manager. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1977
- Skip json conversion of invalid attributes. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1992
- Change raw print to debug log by @MatthewChang in https://github.com/facebookresearch/habitat-lab/pull/1981
- [BE] - cleanup ao humanoid controllers by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1994
- [BE] refactor to use new aabb properties from sim by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1996
- When navigating, allow to list objects for which we will ignore collisions (e.g. other agents) by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/2002
- Add human-readable display names to object states. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2005
- [BE] - remove unnecessary debug code by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2007
- [BE][docs] - cleanup docstring: sims.habitat_simulator.debug visualizer|actions by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2008
- [BE] cleanup docstring sims.habitatsimulator.simutilities by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2009
- [BE] - remove pyrobot integration by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2015
- [BE] - cleanup docstring sims.habitatsimulator.kinematicrelationship_manager by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2016
- Add dataset metadata field to DatasetConfig. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/2022
- [BE] - Update docstrings and formatting for sims.habitatsimulator.objectstate_machine.py by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2017
- [BE] - cleanup docstring core.benchmark by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2033
- [BE] - remove trycv2import by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2029
- [BE] - cleanup docstring core.dataset by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2034
- [bugfix] - handle duplicate objects in rearrange_sim episode initialization by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2040
- [BE] - cleanup docstrings core.utils by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2032
- [BE] - cleanup docstring core.simulator by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2046
- [BE] - reactivate flake8 checks in rearrange_sim and correct issues by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/2052
New Contributors
- @MatthewChang made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/1981
Full Changelog: https://github.com/facebookresearch/habitat-lab/compare/v0.3.1...v0.3.2
- Python
Published by aclegg3 over 1 year ago
https://github.com/facebookresearch/habitat-lab - v0.3.1
Major features and improvements
Human in the Loop (HITL) Application: client/server architecture for real human interaction with simulated robots and environments
- Reorganize the HITL framework as a new habitat-hitl package by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1754
- Remote VR HITL Evaluation by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1731
- Clean-up and fixes by @eundersander and @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1738, https://github.com/facebookresearch/habitat-lab/pull/1766, https://github.com/facebookresearch/habitat-lab/pull/1771, https://github.com/facebookresearch/habitat-lab/pull/1777, https://github.com/facebookresearch/habitat-lab/pull/1788, https://github.com/facebookresearch/habitat-lab/pull/1789, https://github.com/facebookresearch/habitat-lab/pull/1795, https://github.com/facebookresearch/habitat-lab/pull/1802, https://github.com/facebookresearch/habitat-lab/pull/1849, https://github.com/facebookresearch/habitat-lab/pull/1848, https://github.com/facebookresearch/habitat-lab/pull/1800, https://github.com/facebookresearch/habitat-lab/pull/1837, https://github.com/facebookresearch/habitat-lab/pull/1852
- Migrate HITL apps away from command-line args and to Hydra config yaml files by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1745
- Support for headless HITL apps by @eundersander and @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1768, https://github.com/facebookresearch/habitat-lab/pull/1794, https://github.com/facebookresearch/habitat-lab/pull/1792
- server-side helpers to measure client latency by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1796
- rearrange_v2 example app and other features/fixes for Feb 12 demo by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1810, https://github.com/facebookresearch/habitat-lab/pull/1830
- Add camera sync support. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1811
- Make skinning support optional. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1791
- GUI-controlled Spot and local multi-user support by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1831
- Remote keyboard input redirection. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1853
- Add GUI rendering wrapper. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1838
- Reorganize the HITL framework as a new habitat-hitl package by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1754
New Simulator utility functions: quality of life wrappers and prepositional logic functions
- Object "getter" wrapper utils to sim_utilities by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1816
- "Above" set query util by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1817
- "Within" set query util by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1819
- "Ontop" utility by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1835
- "on_floor" query util by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1841
- Region containment query utils by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1820
Improved DebugVisualizer Util: get images of the world from within
breakpoint()and other debugging scenarios- DebugVisualizer Update by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1775
- DebugVisualizer generic 'peek' function by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1834
Spot robot support changes for sim2real deployment:
- Spot Mobile Gaze Training Code by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1647, https://github.com/facebookresearch/habitat-lab/pull/1691
- Spot social nav by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1658
- add jaw camera by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1856
Documentation updates:
- Expose all habitat-lab API docs by @henrysamer in https://github.com/facebookresearch/habitat-lab/pull/1779, https://github.com/facebookresearch/habitat-lab/pull/1736
- Add Humanoid + ArticulatedAgent tutorials by @xavierpuigf and @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1765
- Social nav README by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1699, https://github.com/facebookresearch/habitat-lab/pull/1860
- Humanoid details (convert SMPL-X to humanoid motions) by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1703, https://github.com/facebookresearch/habitat-lab/pull/1720
- Troubleshooting Common Problems readme by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1734
- Improving PDDL Docs by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1784
- Deprecate colabs in favor of Jupyter notebooks by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1742
- Update README.md by @dhruvbatra in https://github.com/facebookresearch/habitat-lab/pull/1690, https://github.com/facebookresearch/habitat-lab/pull/1693
Other changes and bugfixes
- Update indices humanoid by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1657
- Fix Spot-floating bug by @rpartsey in https://github.com/facebookresearch/habitat-lab/pull/1661
- query attr filepath if available to find AO rec meshes by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1669
- [BE] Fix the env pause issue by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1744
- [BE] Make key as string by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1764
- Add habitathitl.disableagentsandstepping config param by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/1769
- Fixed config habitathitl.episodesfilter='4' and episodes_filter episode order by @henrysamer in https://github.com/facebookresearch/habitat-lab/pull/1772
- (1) Fixed error when using config habitathitl.episodesfilter='4' (2) Fixed episodes_filter episode order not respected (3) added check for data folder in current working directory by @henrysamer in https://github.com/facebookresearch/habitat-lab/pull/1774
- Adapt to Magnum Python bindings update by @mosra in https://github.com/facebookresearch/habitat-lab/pull/1776
- correction2 of type-cast when self.hitlconfig.episodes_filter==None by @henrysamer in https://github.com/facebookresearch/habitat-lab/pull/1780
- Remove RTLD_GLOBAL flag from apps. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1783
- Use receptacle unique name for dictionary key by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1782
- -- Change ints to float in sensor spec position and orientation by @jturner65 in https://github.com/facebookresearch/habitat-lab/pull/1793
- Correct object initialization by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1806
- [bugfix] - minor generator fixes by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1814
- --Test fixes to support semantic sensor updates by @jturner65 in https://github.com/facebookresearch/habitat-lab/pull/1801
--Address regression and missing stage_id checks by @jturner65 in https://github.com/facebookresearch/habitat-lab/pull/1822
[3.1] Fix missing org name changes. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1850
[3.1] Fix assorted typos in user-facing files. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1851
Fix agent GPS compass key in multi-agent README by @gchhablani in https://github.com/facebookresearch/habitat-lab/pull/1844
New Contributors
- @henrysamer made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/1736
- @gchhablani made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/1844
Full Changelog: https://github.com/facebookresearch/habitat-lab/compare/v0.3.0...v0.3.1
- Python
Published by aclegg3 almost 2 years ago
https://github.com/facebookresearch/habitat-lab - v0.3.0
Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots (https://aihabitat.org/habitat3/)
- Multi-agent training
- Humanoid agents
- HSSD dataset
- Human-in-the-loop evaluation app for rearrangement tasks
What's Changed
- save velocity of objects in simstate by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1499
- Core Trainer Refactors by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1482
- Fix Articulated Object Drift by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1523
- [hab3_merge] remove agent index by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1521
- [hab3_merge] Add Skills for the robot to move forward/backward and turn by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1508
- [hab3_merge] Define different policies for different agents by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1530
- Revert "[hab3_merge] Define different policies for different agents" by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1535
- [hab3_merge] Main different policies per agent by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1536
- [hab3_merge] RearrangeEpisodeGenerator changes by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1517
- [hab3_merge] - RearrangeDataset pickle by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1545
- Docs change: Correct the URL for objectnavmp3dv1.zip by @xwy-bit in https://github.com/facebookresearch/habitat-lab/pull/1559
- Rearrange Task Config Cleanup by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1543
- [bugfix]: handle the case where a scene has no indoor navmesh islands by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1567
- [bugfix]: remove joint motors when converting objects to MotionType.KINEMATIC by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1566
- [hab3_merge] Updates in humanoid controller by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1582
- [hab3_merge] - navmesh related refactor from SIRo to existing files by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1562
- [CI] lower hab2 interact bench thresholds after bug fix by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1590
- Flag to enable hbao in experiments by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1598
- [CI] - update resource class by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1600
- Unoccluded navmesh snap by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1591
- [hab3_merge] Multi-Agent Trainers by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1524
- Fix gym.obs key name by @rpartsey in https://github.com/facebookresearch/habitat-lab/pull/1616
- Replace deprecated torch.norm by @Kuzmarg in https://github.com/facebookresearch/habitat-lab/pull/1611
- SIRo HITL Tool by @rpartsey in https://github.com/facebookresearch/habitat-lab/pull/1615
- Humanoid pick action by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1619
- [Hab3] social nav in main by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1605
- [Hab3] Planner Agent by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1610
- update version tags to v0.3.0 by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1613
- Fix Social Nav/Rearrange Task Integration by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1629
- [bugfix] - pass correct object to function by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1597
- Readme for hab3 by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1633
- Update README.md by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1636
- updates readme by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1640
- Updated HITL tool README.md by @rpartsey in https://github.com/facebookresearch/habitat-lab/pull/1641
- Update EpisodeHelper to account for endless episode iterators by @rpartsey in https://github.com/facebookresearch/habitat-lab/pull/1642
- CI for Social Rearrange/Nav by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1634
- update readme with note by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/1643
- Agent configs refactor by @rpartsey in https://github.com/facebookresearch/habitat-lab/pull/1635
- Hab3 benchmarking scripts by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1639
New Contributors
- @xwy-bit made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/1559
- @Kuzmarg made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/1611
Full Changelog: https://github.com/facebookresearch/habitat-lab/compare/v0.2.5...v0.3.0
- Python
Published by aclegg3 over 2 years ago
https://github.com/facebookresearch/habitat-lab - v0.2.5
Major features and improvements:
- RearrangeGenerator improvements:
- cleanup and unstable object culling by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1248
- Add support for glTF multi-receptacle assets by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1249
- Receptacle unique_name filtering by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1298
- Better stable rearrange sampling by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1301
- [Bug Fix] change the snap point to be attached the largest island id by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1371
- Removing Habitat v1 style actions and move to v2 style by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/1251
- [breaking] - NavMeshSettings refactor by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1351
- Support for CLIP visual encoder by @mukulkhanna in https://github.com/facebookresearch/habitat-lab/pull/1339
- Huggingface data migration by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1450
- Add HSSD (Habitat Synthetic Scene Dataset) by @mukulkhanna in https://github.com/facebookresearch/habitat-lab/pull/1332
- Environment Factory+Habitat 2.0 Code Cleanup by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1401
Other improvements and bug fixes:
- [Development] Batch renderer integration by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1200
- [bugfix] - revert erroneous snap-down "fix" for stage mesh margin by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1240
- [Bug Fix] fix the angle between the agent and the object by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/1237
- Habitat 2.0 Tasks Cleanup by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1265
- General Hab2 Bug Fixes by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/1331
- Fixing regression of performance (~7x slowdown) on CI by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/1319
- [BUG FIX] Hydra migration reordered the obs_transforms erroneously by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/1372
- [refactor] - update for Magnum breaking API change by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1356
- Apply breaking change in replay renderer API. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1408
- add default navmesh construction config options to SimulatorConfig by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1411
- [Development] Batch renderer: Depth sensor support by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1416
- using config instead of len for counting envs by @naokiyokoyama in https://github.com/facebookresearch/habitat-lab/pull/1422
- [Development] Batch renderer PPO training integration by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1436
- [Docs change] Add bench renderer documentation. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1443
- Remove typing_extensions. by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/1446
- [CI] - pin doxygen version at 1.9.5 by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1452
- [CI] - disable hab2 multi-proc benchmark assertions by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1455
- [CI] - add
--no-pruneto automatic downloader calls by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1461 - misc perf optmizations by @Skylion007 in https://github.com/facebookresearch/habitat-lab/pull/1447
- Bug fix for loading weights when resuming training by @naokiyokoyama in https://github.com/facebookresearch/habitat-lab/pull/1472
- version bump v0.2.5 by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1475
- [Bug Fix] Fix bug in method to find action range by @sidpatki in https://github.com/facebookresearch/habitat-lab/pull/1476
New Contributors
- @sidpatki made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/1476
Full Changelog: https://github.com/facebookresearch/habitat-lab/compare/v0.2.4...v0.2.5
- Python
Published by aclegg3 over 2 years ago
https://github.com/facebookresearch/habitat-lab - v0.2.4
Major features and improvements:
- Deprecation of OMPL and SLAM by @vincentpierre and @rpartsey in #1075, #1097 and #1193
- Added several omegaconf configurations to our public API and documented them by @vincentpierre in #1101
- Changes to high level policies training by @ASzot in #1053
- Added Humanoids to Habitat by @xavierpuigf in #1165
- Added Spot robot configuration by @jimmytyyang in #1177
- Changed our contribution guidelines and pull request templates by @vincentpierre in #1175
- Added Objectnav dataset for HM3DSem v0.2 by @srama2512 in #1185
- Added instanceImageNav HM3D dataset v0.3 by @jacobkrantz in #1186
- pip installable habitat-lab changes by @rpartsey in #1187, #1221, #1224, #1229
- New Agent abstraction in trainers by @ASzot in #1169
- Upgrade to python version 3.9 by @vincentpierre in #1198
Other improvements and bug fixes:
- Update a dataset URL in the Readme by @dhruvbatra in #1039
- Fix field of view issue by @jimmytyyang in #1048
- Update instructions of interactive testing by @akshararai in #1054
- Conda update on CI by @0mdc in #1052
- Fix version of toml in CI by @vincentpierre in #1063
- New visualization tutorial by @rpartsey in #1037
- Bugfix on topdown map drawing by @jimmytyyang in #1060
- Refactor of debug visualization by @vincentpierre in #1064
- Allow topdown map for multi-agent environments by @vincentpierre in #1072
- Fix speed regression in rearrangement tasks by @ASzot in #1085
- Small updates post hydra migration by @rpartsey in #1088
- Making read_write on omegaconf part of the public API by @vincentpierre in #1090
- Adding documentation on DatasetConfig omegaconf by @vincentpierre in #1091
- Better error handling when loading checkpoints by @vincentpierre in #1094
- Moving all gym files into a dedicated gym folder for better separation by @vincentpierre in #1095
- Fixing import bug for torch by @vincentpierre in #1106
- Bump isort version in CI by @0mdc in #1107
- Bump black version in CI and pre-commit by @aclegg3 in #1110 and #1113
- Removed unused line by @jimmytyyang in #1104
- Performance improvements (~20%) on habitat-lab by @vincentpierre in #1120
- Documenting
HABITAT_ENV_DEBUGenvironment variable by @vincentpierre in #1127 - Refactoring code to unlock all of hydra with submitit functionalities by @vincentpierre in #1128
- Add flaky to some pytests to make them more robust by @aclegg3 in #1131
- Documenting some of the most useful configuration keys for navigation by @vincentpierre in #1111
- Added velocity control to the default configurations by @luisenp in #1119
- CI fix with pytest version by @vincentpierre in #1141
- Documenting some of the most useful configuration keys for rearrangement by @vincentpierre in #1126
- Fix tutorials configuration paths by @dhruvbatra in #1065
- Fix on depth image normalization by @vincentpierre in #1152
- Faster loading of habitat module by @vincentpierre in #1144 and #1157
- Test for speed performance of simulation on CI by @vincentpierre in #1114
- Gym API support enhancements by @rpartsey in #1145
- Renaming of agents to be more general by @xavierpuigf in #1150
- Bug fix on instanceImageNav distance viewpoint threshold by @Ram81 in #1130
- Optimized a list comprehension by @Skylion007 in #1168
- Documentation change by @rpartsey in #1167
- CI change replace assets if already present by @jimmytyyang in #1179
- Rename Robots to Articulated Agents by @xavierpuigf in #1176
- Moved from attr.s to dataclass by @rpartsey in #1182
- Bug fix on accumulated force metric by @jimmytyyang in #1194
- Fix Humanoid armature by @xavierpuigf in #1195
- Update torch dependency version by @rpartsey in #1197
- Fix loading of DD-PPO checkpoints by @rpartsey in #1116
- TriangleMeshReceptacles and RearrangeGenerator improvements by @aclegg3 in #1108
- Fix typing issue in receptacles.py by @0mdc in #1203
- PDDL system upgrade by @ASzot in #1190
- Fix of humanoid controller by @xavierpuigf in #1202
- New grasp action for Spot and Stretch robot by @jimmytyyang in #1208
- Bug fix in rearrangement generator by @aclegg3 in #1220
- Fixes for HRL trainer by @ASzot in #1209
New Contributors
- @luisenp made their first contribution in #1119
Full Changelog: https://github.com/facebookresearch/habitat-lab/compare/v0.2.3...v0.2.4
- Python
Published by vincentpierre almost 3 years ago
https://github.com/facebookresearch/habitat-lab - v0.2.3
Major features and improvements:
- Major speed up of ObjectNav evaluation by @ykarmesh in https://github.com/facebookresearch/habitat-lab/pull/867
- VER trainer implementation by @erikwijmans in https://github.com/facebookresearch/habitat-lab/pull/905, https://github.com/facebookresearch/habitat-lab/pull/906 and https://github.com/facebookresearch/habitat-lab/pull/907
- New tasks for the habitat challenge by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/883
- New InstanceImageNav task by @jacobkrantz in https://github.com/facebookresearch/habitat-lab/pull/936 and https://github.com/facebookresearch/habitat-lab/pull/940
- Splitting habitat-lab and habitat-baselines into separate packages by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/922
- Configuration system was moved from YACS to Hydra by @rpartsey and @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/977, https://github.com/facebookresearch/habitat-lab/pull/983 and https://github.com/facebookresearch/habitat-lab/pull/1000
- Fix to the MoveObjectReward measure by @SergioArnaud in https://github.com/facebookresearch/habitat-lab/pull/992 and https://github.com/facebookresearch/habitat-lab/pull/1010
- Port Stretch and Spot Robots to habitat by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/982, https://github.com/facebookresearch/habitat-lab/pull/1014 and https://github.com/facebookresearch/habitat-lab/pull/1018
Other improvements and bug fixes:
- Robot scripts were moved from habitat-sim to habitat-lab by @zacavis in https://github.com/facebookresearch/habitat-lab/pull/888
- Add support for multiple continuous or discrete actions in the gym wrapper by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/891
- Make habitat-baselines use the gym API for training by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/892
- Make LSTM recurrent state contiguous to fix errors by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/901
- Render the last frame of evaluation videos by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/904 and https://github.com/facebookresearch/habitat-lab/pull/924
- Replace RearrangeRLEnv and NavRLEnv with a single RLTaskEnv class for better readability by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/902
- Add Polymetis usage example by @laikhtewari in https://github.com/facebookresearch/habitat-lab/pull/897
- CI test fixes by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/915
- CI test fixes by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/913, https://github.com/facebookresearch/habitat-lab/pull/912 and https://github.com/facebookresearch/habitat-lab/pull/921
- Bug fix for the observation transformer by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/903
- Creating Static Manipulator Interface by @laikhtewari in https://github.com/facebookresearch/habitat-lab/pull/909
- Documenting habitat test scenes and pointnav episodes by @srama2512 in https://github.com/facebookresearch/habitat-lab/pull/916
- Improvements to the README by @dhruvbatra in https://github.com/facebookresearch/habitat-lab/pull/927
- Allow DDPPO to train any gym environment with compatible observation and action spaces by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/930
- Fix mypy CI issue by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/932 and https://github.com/facebookresearch/habitat-lab/pull/1023
- Fix Franka robot CI by @laikhtewari in https://github.com/facebookresearch/habitat-lab/pull/935
- Refactor the way rgb and depth observations are processed by the ResnetEncoder by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/933
- New Franka robot block stacking task by @laikhtewari in https://github.com/facebookresearch/habitat-lab/pull/925
- Bugfix in ResNetEncoder by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/938
- Enable all tasks configs for the auto gym tests by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/939
- Change link to pretrained VQA encoders by @mukulkhanna in https://github.com/facebookresearch/habitat-lab/pull/942
- Multi-agent integration by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/941
- Add
humanrender option to the gym interface by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/944 - Refactor mobilemanipulator and staticmanipulator by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/948
- Fix the first observation after reset being from the wrong position by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/952
- Switch CirecleCI versions by @mathfac in https://github.com/facebookresearch/habitat-lab/pull/958
- Fix an issue in which the simulation would not be properly reconfigured by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/955
- Fix typos in the README by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/962
- Added a habitat namespace in the configuration by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/969
- Fix indentation error in gym wrapper code by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/972
- Update CircleCi for Spot robot by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/967
- VER updates by @erikwijmans in https://github.com/facebookresearch/habitat-lab/pull/979
- Fixing merge config issue with VER by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/984
- Fix links to documentation in example colab by @xavierpuigf in https://github.com/facebookresearch/habitat-lab/pull/987
- Change pytest-sugar version on CI to avoid a dependency issue by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/994
- Add Stretch robot urdf to CircleCI by @jimmytyyang in https://github.com/facebookresearch/habitat-lab/pull/995
- Moving flake8 pre-commit dependency from gitlab to github by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/1002
- Fixing circular import dependency for objectnav by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/998
- Re-adding --add-ik to example script by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/1004
- Changing copyright in files by @NakuraMino in https://github.com/facebookresearch/habitat-lab/pull/986 and https://github.com/facebookresearch/habitat-lab/pull/988
- Fix documentation path in gym example by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/1016
- Fix manifest issues by @0mdc in https://github.com/facebookresearch/habitat-lab/pull/991
- Moving habitat2 documentation page to habitat-lab by @rpartsey in https://github.com/facebookresearch/habitat-lab/pull/1025
- Adding instance image nav paper reference by @jacobkrantz in https://github.com/facebookresearch/habitat-lab/pull/1020
- Bumping version numbers by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1026
- Routing new users to the new discussion page by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/1027
- Updating CI tests for datasets by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/1019
- Update the Readme to remove the Slack channel link by @dhruvbatra in https://github.com/facebookresearch/habitat-lab/pull/1031
- Large bug fixes for habitat 2.0 tasks by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/959
- Bug fix for navigation task by @mukulkhanna in https://github.com/facebookresearch/habitat-lab/pull/1032
New Contributors
- @zachavis made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/888
- @laikhtewari made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/897
- @jacobkrantz made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/936
- @jimmytyyang made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/948
- @0mdc made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/962
- @xavierpuigf made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/987
- @SergioArnaud made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/992
- @NakuraMino made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/986
Full Changelog: https://github.com/facebookresearch/habitat-lab/compare/v0.2.2...v0.2.3
- Python
Published by vincentpierre about 3 years ago
https://github.com/facebookresearch/habitat-lab - v0.2.2
Major features and improvements:
- Complete Habitat 2.0 tasks, episode generation, and benchmark migration (#837, #862, #764)
- Upgrade minimum python version to 3.7 by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/801
- [ObsTransforms] Add support for semantic sensor observation transforms by @Ram81 in https://github.com/facebookresearch/habitat-lab/pull/847
- Move gym from habitat_baselines to habitat by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/864
- HM3D Semantics update by @srama2512 in https://github.com/facebookresearch/habitat-lab/pull/822
Other improvements and bug fixes:
- PointNav datasets for Gibson 0+ and HM3D by @srama2512 in https://github.com/facebookresearch/habitat-lab/pull/711
- Fix failing gym 2.0 test by @erikwijmans in https://github.com/facebookresearch/habitat-lab/pull/725
- [TechDebtWeek] made sucess -> success by @ykarmesh in https://github.com/facebookresearch/habitat-lab/pull/724
- Remove unused agent dynamic properties by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/720
- --Update field name to match Habitat-Sim refactor. by @jturner65 in https://github.com/facebookresearch/habitat-lab/pull/731
- Fixed Dockerfile conda installation by @NickLucche in https://github.com/facebookresearch/habitat-lab/pull/730
- Fixed flake suggestions and combined logical clauses. by @mathfac in https://github.com/facebookresearch/habitat-lab/pull/732
- Remove tensorflow dependency by @erikwijmans in https://github.com/facebookresearch/habitat-lab/pull/740
- Update README.md by @dhruvbatra in https://github.com/facebookresearch/habitat-lab/pull/741
- Fix set episode(s) by @erikwijmans in https://github.com/facebookresearch/habitat-lab/pull/739
- Fix batch_obs for CPU training. by @erikwijmans in https://github.com/facebookresearch/habitat-lab/pull/744
- Update references to habitat-sim master => main by @eundersander in https://github.com/facebookresearch/habitat-lab/pull/733
- Add pre-commit hook to ban blanket noqa by @Skylion007 in https://github.com/facebookresearch/habitat-lab/pull/746
- Added pointer to ROS-X-Habitat by @ericchen321 in https://github.com/facebookresearch/habitat-lab/pull/743
- Renamed references from master to main in docs and for DDPPO master address by @mathfac in https://github.com/facebookresearch/habitat-lab/pull/748
- Update README.md by @dhruvbatra in https://github.com/facebookresearch/habitat-lab/pull/762
- Citation update by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/750
- Update pre-commit and apply change for new black version by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/767
- Updated README to Clarify MacOS Installation by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/770
- Fix set goal bug by @erikwijmans in https://github.com/facebookresearch/habitat-lab/pull/772
- Bugfix negative force penalty by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/783
- Deprecating TASK.SUCCESSDISTANCE since TASK.SUCESS.SUCCESSDISTANCE replaces it by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/784
- Made tensorboard metrics and losses each appear in their own graph by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/790
- Mypy precommit by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/792
- [CI] Showing the mypy version on circleci tests by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/798
- Adapt to m.css updates in the sim repository by @mosra in https://github.com/facebookresearch/habitat-lab/pull/806
- Upgrade CI gpu resource to gpu.nvidia.medium by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/807
- docs: update README by @Aakash-Roy in https://github.com/facebookresearch/habitat-lab/pull/789
- Fixing typing annotation on gym.Env by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/819
- setting gym min version to 0.22.0 by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/820
- [bugfix] - Apply AO instance uniform scale to Receptacles by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/815
- Adds missing PointNav HM3D config file by @srama2512 in https://github.com/facebookresearch/habitat-lab/pull/823
- [Fix] Fixing mypy by fixing mypy version by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/836
- Require config keys have default by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/776
- removing unused configs by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/840
- updating click version on main by @vincentpierre in https://github.com/facebookresearch/habitat-lab/pull/858
- (bugfix): Fix mypy typing error + precommit issue by @Skylion007 in https://github.com/facebookresearch/habitat-lab/pull/865
- Tensorboard Version Fix by @ASzot in https://github.com/facebookresearch/habitat-lab/pull/874
- Use find free port by @erikwijmans in https://github.com/facebookresearch/habitat-lab/pull/877
- Fix backwards compatability for Hab1 tasks and Hab2 gym-style tasks by @erikwijmans in https://github.com/facebookresearch/habitat-lab/pull/878
- Fix a minor bug about
generate_videoby @Jiayuan-Gu in https://github.com/facebookresearch/habitat-lab/pull/879 - Update all references to YCB configs directory for v1.2 by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/884
- [ci-bugfix] - remove opencv conda by @aclegg3 in https://github.com/facebookresearch/habitat-lab/pull/886
New Contributors
- @ykarmesh made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/724
- @NickLucche made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/730
- @ericchen321 made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/743
- @Aakash-Roy made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/789
- @Ram81 made their first contribution in https://github.com/facebookresearch/habitat-lab/pull/847
Full Changelog: https://github.com/facebookresearch/habitat-lab/compare/v0.2.1...v0.2.2
- Python
Published by aclegg3 over 3 years ago
https://github.com/facebookresearch/habitat-lab - v0.2.2 rc1
v0.2.2 rc1
- Python
Published by aclegg3 over 3 years ago
https://github.com/facebookresearch/habitat-lab - v0.2.1
Major features and improvements:
- Addition of velocity_control actions and support for Gaussian action (#655)
House Assistant Benchmarks Task Changes:
- Collision force measurements fixes. (#684)
- Contact measuring API changes with properly return contacts differentiating between object-on-scene, robot-on-scene, and robot-on-object types of contacts.
- Starting state and the robot arm proper location fix.
- Snap to grasp manager implemented and the grasp manager takes care of the collision groups.
- Refactored observationstoimage to allow variable-sized sensor images. The different image sizes are now tiled side by side. Image and text flip fix. (#687)
- Added actions for setting absolute kinematic state and target joint states. (#685)
- Added separate IK config for the interactive play script. Refactored measurements code to break down the reward signal and reuse measurements for the reward and success signal.
Habitat Baselines Changes:
- Support rendering images from observation with unequal dimensions.
- Added benchmark_render.py, a new version of benchmark.py which supports rendering videos and saving trajectories to a file.
- Added Gym wrapper with config for which parts of the observation to get.
- Added Sense Plan Act pipeline from Habitat 2.0 paper.
Other improvements and bug fixes:
- Add detail of headless vs. not to the readme (#679)
- Fix to use resume config when training (#695)
- Fix bug with size of the joint observation space.
- Fixed the base transform was not being properly calculated.
- Added interactive play test utility script. This is an important way to test the functionality. (#684)
- Added collision specific measurements.
- Refactored the rearrange simulator class to have less responsibility.
- Record trajectory from the interactive play script for automated testing.
- Added episode generation script for rearrangement tasks under examples folder.
- Fixed properly load in scene config for new ReplicaCAD format.
Corresponding Habitat-Sim v0.2.1 release.
Kudos to our community contributors: @naokiyokoyama.
- Python
Published by mathfac over 4 years ago
https://github.com/facebookresearch/habitat-lab - v0.1.7
Major features and improvements:
- Added fisheye camera to observation transformations by @matsuren (#486, #496) Implementation equirectangular into perspective images of observation transformation and performance improvement on cube map to equirectangular transformation by @matsuren (#517, #485)
- Collapsed PPO and DD-PPO trainers, added faster RNN code, and double-buffered sampling, switched to optimal default models like ResNet18 (#538, #557)
- Added performance profiling capabilities for PPO/DDPPO training (#477, #476)
- Added Visual Question Answering baseline and NAV-PACMAN baseline implementation for EQA by @mukulkhanna (#487, #539)
- Added mypy and static mandatory type checking and significantly improved typing of the existing codebase (#492, #527, #535, #535)
- +5% speedup for all model training with zero-copy pickling method used for the vector environments (#582)
Other improvements and bug fixes:
- Support of modern gym API (#498)
- Enhance the display of the top-down map for a floor the agent is currently on by @Skylark0924 (#580)
- Support properties and members with a call method for vector environment (#548)
- [Backwards Incompatible Change] Address out of sync with Habitat Sim config file extensions and refactor for removal of Habitat SimSceneConfiguration (#508, #516, #525)
- Episode generator bug fix by @Jbwasse2 (#560)
- SLAM baselines install script update by @Jbwasse2 (#552)
- Allow PointNav GPS and Compass to support 3D (#553)
- Fix DDP Reduction in PyTorch 1.7 when the model has unused parameters #586
- Compatibility with refactored CameraSensor and SceneGraph in Habitat Sim (#575)
- Bugfix for the situation when the child pipe was not closed (#585)
- Updates of code style guide enforcement tooling (#512)
- Continue integrations improvements: using pre-installed CUDA and better pytest results handling (#510, #511, #524)
- Added support of running evaluation on multiple single checkpoints in the same folder (#493)
- Added shellcheck to pre-commit hook (#509)
Corresponding Habitat-Sim v0.1.7 release.
Kudos to our community contributors: @matsuren, @mukulkhanna, @Jbwasse2, @Skylark0924
- Python
Published by mathfac about 5 years ago
https://github.com/facebookresearch/habitat-lab - v0.1.7 rc1
v0.1.7 rc1
- Python
Published by mathfac about 5 years ago
https://github.com/facebookresearch/habitat-lab - v0.1.6
Major features and improvements:
- Renamed Habitat-API to Habitat-Lab to emphasize its purpose: to conduct experiments in embodied AI, define tasks, train different agents, benchmark performance (#448, #450).
- Implemented a demo cubemap2equirect that stitches together 6 sensors into one creating a 360 Sensor (#478).
- Added an observation transformer registry for transformation as Cropping, Resize and separating Observation Transformation and Policy (#478).
- Embodied Question Answering (EQA) CNN Pre-trainer for EQA baseline implementation by @mukulkhanna (#430).
- Add UUID config to simulator visual sensors to better support multiple sensor of the same type (#472).
- Implemented standard interface for policy instantiation by @rpartsey (#453).
- Added Habitat-Lab Colab Tutorial, presented on ECCV2020 by @dexter1691(#445).
- Delivered Habitat-Lab Interactive Task Colab Tutorial that demonstrate adding new task with grab/release action and moving objects by @dexter1691 (#449).
- Implemented DDPPO baseline for Image Navigation task by @thibautlavril (#378).
- Implemented policy registry to support different policies for the same Trainer by @rpartsey (#440).
- Added usage habitat-sim's topdown view (#442).
- Implemented dataset generation script for Gibson 500 scenes PointNav Task by @srama2512 (#387).
- Removed Habitat Sim wrapper to avoid
sim._simconstructions. (#418).
Other improvements and bug fixes:
- Bug fix for VLN follower (#461)
- Updated precommit and fix linter (#433)
- Added isort to jupytext (#441)
- Added autoflake support (#456)
- Flake8 upgrade and Pre-Commit Hook added for CircleCI (#459, #469)
- Multiple other Fixes: signal masking, README updates (#406, #413, #418, #435, #426, #438, #439)
Corresponding Habitat-Sim v0.1.6 release.
Kudos to our community contributors: @thibautlavril, @rpartsey, @dexter1691, @mukulkhanna, @srama2512.
- Python
Published by aclegg3 over 5 years ago
https://github.com/facebookresearch/habitat-lab - v0.1.5
Major features and improvements:
- Added Object Navigation task definition, dataset, metrics, goal sensor (#284, #309, #355)
- Object Navigation DDPPO baselines (#370)
- Added Image navigation task (#333)
- Added geodesic distance for multiple goals (#290)
- Integrated RGB, Depth, PyRobot actuation noises, initial camera orientation. (#305)
- Generated PointNav Gibson v2 supporting sim2real direction (#316)
- Nightly build of docs and tutorials (#393, #396, #400)
- Faster multi-goal geodesic distance computation and caching (#352)
Other improvements and bug fixes:
- Metrics dependency mechanism to deliver ObjectNav 2x speed (#284, #332)
- Cleaned up agent state checks (#399)
- Added utility func for computing local state change (#392)
- Fixed docker build with extra space. (#363)
- Update demo notebook (habitat.utils.common import) (#351)
- Update Dockerfile to stable (#339)
- Update CUDAGL base image, cmake version and git clone in Dockerfile. (#349)
- Added physics config to default habitat simulator config. (#289)
- Interface with habitat-sim no sliding (#283)
- Added Observation Transformation API (#365)
- Soft SPL implementation: SPL with a softer success criterion (#361).
- Habitat Challenge 2020 gRPC evaluation support (#319)
Corresponding Habitat-SIM v0.1.5 release.
Kudos to our community contributors: @thibautlavril, @Xiaoming-Zhao, @pushkalkatara, @kdexd, @Adidushi, @smorad.
- Python
Published by mathfac almost 6 years ago
https://github.com/facebookresearch/habitat-lab - v0.1.4
- A new large-scale distributed reinforcement learning algorithm Decentralized Distributed PPO (#245)
- Added Visual Language Navigation Task & Dataset with shortest path example and tests (#233, #263)
- Allow free form arbitrary yaml configs (#275)
- Added test coverage measure for habitat-api with codecov (#257)
- Expand Tensorboard visualization to more than RGB sensor (#251)
Other improvements and bug fixes: - Preserve scene ordering (#234) - Fix bugs in config setup and pause_env condition (#235) - Add CUDA path to CI config path (#249) - Fix wrong return type of SimulatorTaskAction.step (#248) - Fix try register for pointnav dataset (#254) - Fix the documentation build (#256) - Fix contains method in space classes (#272) - Fixing Spelling error in 'appned' and adding test (#280)
Corresponding Habitat-SIM v0.1.4 release.
Community contributors: @koshyanand, @jacobkrantz, @arjunmajum, @ChanganVR, @Danmou.
- Python
Published by mathfac about 6 years ago
https://github.com/facebookresearch/habitat-lab - v0.1.3
- Habitat baselines redesign: introduced general trainer (#132, #153, #172, #178), PPO baseline is extendable to other tasks (#112, #126, #144, #176), customizable dataset iterator (#163, #156, #216)
- Embodied Question Answering task released with a dataset. (#113)
- Towards sim2real: integration with PyRobot (#199)
- Continuous and parameterized actions support, extendable simulator action space (#110, #196, #151)
- GPU-GPU memory sharing with PyTorch to speed up training (#197)
- Visualization tools: tensorboard integration (#127), display an episode navigation video on tensorboard, fog of war (#160, #166)
- Added documentation generating system (#201, #219, #212) and improved tutorials (#125, #128), updated class diagram (#224)
Other improvements and bug fixes: - CI improvements: Added ccache, fixed PyTorch caching (#161), install hsim requirements step (#159), removed travis CI (#215), check of test data installed (#193), pre-commit, added isort-seed, changed CI black and isort (#214) - Vector environments bug fixes: fix multiprocess eval (#150), fixed vector env deletion (#185), fixed pausing logic (#200), fixed bug in env_utils (#208), fixed a bug of empty list initialization (#209) - Dataset utils fixed: modified partitioning logic to handle left-over scenes (#89), fixed bug with uneven splits for dataset (#192). - Correct the naming of PointGoalNav Sensors (#180), fixed an issue with POINTNAVV1 name (#130) - Fix quickstart keys commands (#147) - Update Habitat-API to allow for no rendering sensors (#139) - Update baseline test import and fix docstring (#170) - Evaluate on val and add an option to not take the checkpoints config (#213) - Changed Shortest Path Follower criteria to use geodesic distance. (#194) - Add py.typed file to indicate PEP 561 compatibility (#198)
Corresponding Habitat-SIM v0.1.3 release.
Community contributors: @danielgordon10, @RicCu, @Danmou
- Python
Published by mathfac over 6 years ago
https://github.com/facebookresearch/habitat-lab - v0.1.2
- Added SLAM based agents
- Added Greedy Shortest Path Follower
- Added episode generation code for PointGoal task.
- Nav task improvements, static PointGoal sensor
- Image to video generation utils and top down map measure
- Dataset utility functions
- Config system improvements: compositional config, added scenes_dir.
- Made simple agents suitable for challenge submissions
- Redesign factory/registry pattern
- Switched to attr library for class definition
- Separate baseline installation options
- CI setup with e2e testing using GPU machines
- Tutorials, examples and improved documentation
- Numerous number of bug fixes
Community contributors: @danielgordon10, @RicCu.
- Python
Published by mathfac over 6 years ago
https://github.com/facebookresearch/habitat-lab - v0.1.1
The release contains important parts for the Habitat challenge, visualizations utilities, fixes: - Benchmark and challenge implementations - PPO agents, Random, ForwardOnly, GoalFollower agents - High resolution top down map and bird-eye visualizations - Collisions measure introduced - SPL success criteria fix - Added deleter that closes subprocesses
Community contributors: @ducha-aiki, @danielgordon10, @titardrew, @eric-xw, @oawiles, @mjschock.
- Python
Published by mathfac almost 7 years ago
https://github.com/facebookresearch/habitat-lab - v0.1.0
Habitat-API is a modular high-level library for end-to-end development in embodied AI. It supports the following functionalities:
- Defining embodied AI tasks (e.g. navigation, instruction following, question answering)
- Configuring embodied agents (physical form, sensors, capabilities)
- Training these agents (via imitation or reinforcement learning, or no learning at all as in classical SLAM)
- Benchmarking their performance on the defined tasks using standard metrics.
- Python
Published by abhiskk about 7 years ago