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Spot mobile gaze v2 #1691

Merged
merged 15 commits into from
Dec 6, 2023
Merged

Spot mobile gaze v2 #1691

merged 15 commits into from
Dec 6, 2023

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jimmytyyang
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Motivation and Context

This PR refines training of the mobile gaze policy. It ensures the robot is penalized when the base is moving too far away from the object location.

How Has This Been Tested

Training the mobile gaze policy

Types of changes

  • [Development] A pull request that add new features to the habitat-lab task and environment codebase. Development Pull Requests must be small (less that 500 lines of code change), have unit testing, very extensive documentation and examples. These are typically new tasks, environments, sensors, etc... The review process for these Pull Request is longer because these changes will be maintained by our core team of developers, so make sure your changes are easy to understand!

Checklist

  • My code follows the code style of this project.
  • I have updated the documentation if required.
  • I have read the CONTRIBUTING document.
  • I have completed my CLA (see CONTRIBUTING)
  • I have added tests to cover my changes if required.

@facebook-github-bot facebook-github-bot added the CLA Signed Do not delete this pull request or issue due to inactivity. label Nov 18, 2023
0mdc
0mdc approved these changes Nov 22, 2023
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@0mdc 0mdc left a comment •
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Looks good to me! I left some minor naming suggestions.

Do we have test coverage for this feature set?

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habitat-lab/habitat/tasks/rearrange/utils.py Outdated Show resolved Hide resolved
habitat-lab/habitat/tasks/rearrange/utils.py Outdated Show resolved Hide resolved
habitat-lab/habitat/tasks/rearrange/sub_tasks/pick_task.py Show resolved Hide resolved
habitat-lab/habitat/tasks/rearrange/sub_tasks/pick_task.py Outdated Show resolved Hide resolved
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@jimmytyyang
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Looks good to me! I left some minor naming suggestions.

Do we have test coverage for this feature set?

Hi Michael! Thank you so much for the review! I think the most important feature set in this PR is the ability to set the robot's base orientation and the location using object transformation. I added the test there, thank you!

@jimmytyyang jimmytyyang merged commit 14b63d3 into main Dec 6, 2023
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dannymcy pushed a commit to dannymcy/habitat-lab that referenced this pull request Jul 8, 2024
@jimmytyyang
Spot mobile gaze v2 (facebookresearch#1691)
63e811c 
* add constraint if the robot is moving too far

* refine gaze

* fix placement issue

* fix placement issue

* fix rotation issue

* fix current agent issue

* clean up issue

* add constrain on the ee location

* select arm or base action

* add a check to the camera looking down angles

* address michael's comment

* address

* add pick spot as a training yanl

* remove spot training test

* add test

---------

Co-authored-by: Jimmy Yang <[email protected]>
HHYHRHY pushed a commit to SgtVincent/habitat-lab that referenced this pull request Aug 31, 2024
@jimmytyyang
Spot mobile gaze v2 (facebookresearch#1691)
704a270 
* add constraint if the robot is moving too far

* refine gaze

* fix placement issue

* fix placement issue

* fix rotation issue

* fix current agent issue

* clean up issue

* add constrain on the ee location

* select arm or base action

* add a check to the camera looking down angles

* address michael's comment

* address

* add pick spot as a training yanl

* remove spot training test

* add test

---------

Co-authored-by: Jimmy Yang <[email protected]>
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@0mdc 0mdc 0mdc approved these changes

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@jimmytyyang @0mdc @facebook-github-bot