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| # MOPA: Modular Object Navigation with PointGoal Agents | ||
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| This is an implementation of our paper [MOPA: Modular Object Navigation with PointGoal Agents](https://arxiv.org/abs/2304.03696). [webpage](https://3dlg-hcvc.github.io/rrr) | ||
| This is an implementation of our paper [MOPA: Modular Object Navigation with PointGoal Agents](https://arxiv.org/abs/2304.03696). [webpage](https://3dlg-hcvc.github.io/mopa) | ||
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@@ -51,7 +51,7 @@ pip install -e . | |
| Clone the repository and install the requirements: | ||
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| ``` | ||
| git clone [email protected]:3dlg-hcvc/rrr.git | ||
| git clone [email protected]:3dlg-hcvc/mopa.git | ||
| cd rrr | ||
| python -m pip install -r requirements.txt | ||
| ``` | ||
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| ## Usage | ||
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| ### Pre-trained models | ||
| Download the pretrained PointNav model, trained on HM3D [here](https://github.com/facebookresearch/habitat-matterport3d-dataset/tree/main/pointnav_comparison#pre-trained-models) and update the path [here](https://github.com/3dlg-hcvc/rrr/blob/main/baselines/config/pointnav/hier_w_proj_pred_sem_map.yaml#L12) and [here](https://github.com/3dlg-hcvc/rrr/blob/main/baselines/config/pointnav/hier_w_proj_pred_sem_map.yaml#L92). | ||
| Download the pretrained PointNav model, trained on HM3D [here](https://github.com/facebookresearch/habitat-matterport3d-dataset/tree/main/pointnav_comparison#pre-trained-models) and update the path [here](https://github.com/3dlg-hcvc/mopa/blob/main/baselines/config/pointnav/hier_w_proj_pred_sem_map.yaml#L12) and [here](https://github.com/3dlg-hcvc/mopa/blob/main/baselines/config/pointnav/hier_w_proj_pred_sem_map.yaml#L92). | ||
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| Download the following checkpoints for Object Detection and place under rrr/data/object_detection_models: | ||
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| ``` | ||
| wget "https://aspis.cmpt.sfu.ca/projects/multion/rrr/pretrained_models/obj_det_real.zip" | ||
| wget "https://aspis.cmpt.sfu.ca/projects/multion/rrr/pretrained_models/obj_det_cylinder.zip" | ||
| wget "https://aspis.cmpt.sfu.ca/projects/multion/rrr/pretrained_models/knn_colors.zip" | ||
| wget "https://aspis.cmpt.sfu.ca/projects/multion/mopa/pretrained_models/obj_det_real.zip" | ||
| wget "https://aspis.cmpt.sfu.ca/projects/multion/mopa/pretrained_models/obj_det_cylinder.zip" | ||
| wget "https://aspis.cmpt.sfu.ca/projects/multion/mopa/pretrained_models/knn_colors.zip" | ||
| ``` | ||
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| ### Evaluation | ||
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