Semantic map constructor
This project is a distilled map constructor from object goal navigation paper.
The main modules of constructing a 2D/3D semantic map from simulation environment are designed
Main mathmatical calculation rely on pytorch
Data preparation
data
├── scene_datasets
│ ├── mp3d
│ └── gibson
└─── vlnce
├── train
│ ├── train.json.gz
│ └── train_gt.json.gz
├── val_seen
│ └── ...
scene_datasets -> /staging/leuven/stg_00095/simulator_scenes
vlnce -> /data/leuven/335/vsc33595/dataset/vln_task/R2R_VLNCE_v1-2_preprocessed
Generation test
python run.py --vis_stepwise True # if want to have stepwise plot with agent arrow
python run.py --vis_stepwise False # if only want the overall map after explore