SLAMuZero

acme-more-mcts

Installation

fork acme-more-mcts and run following command from the main directory(where setup.py is located):

pip install .[jax,tf,testing,envs]

Habitat is also needed:

pip install habitat-sim
pip install habitat-api

Setup

The project requires datasets in a data folder in the following format (same as habitat-api):

SLAMuZero/
  data/
    scene_datasets/
      gibson/
        Adrian.glb
        Adrian.navmesh
        ...
    datasets/
      pointnav/
        gibson/
          v1/
            train/
            val/
            ...

Please download the data using the instructions here: https://github.com/facebookresearch/habitat-api#data

Getting started

To run the code:

python run_acme.py

Visualization

Pass --print_images 1 to plot trajectory

python run_acme.py --print_images 1

And use draw.py to generate .gif

python draw.py --pic_dir PATH_TO_DUMP