updates to goal specification api logic

Author: msavva

API.md

@@ -113,27 +113,27 @@ The simulator API is implemented in [minos/lib/Simulator.py](lib/Simulator.py).
 
    To specify a point as a goal (with radius r as a distance threshold):
    ```
-      { 'position': [x, y, z], 'radius': r }
+      { 'type': 'position', 'position': [x, y, z], 'radius': r }
    ```
    To specify object categories as goals and select a random instance of the category as the goal:
    ```
-      { 'categories': ['arch', 'door'], 'select': 'random' }
+      { 'type': 'object', 'categories': ['arch', 'door'], 'select': 'random' }
    ```
-   To specify room types as goals and select a random room of the category as the goal:
+   To specify room types as goals and select the random room of the category as the goal:
    ```
-      { 'roomTypes': ['bedroom', 'bathroom'], 'select': 'random' }
+      { 'type': 'room', 'roomTypes': ['bedroom', 'bathroom'], 'select': 'random' }
    ```
    To specify instances of a model id as a goal, and select the closest from start as the goal:
    ```
-      { 'modelIds': ['3dw.abc...', '3dw.efg...'], 'select': 'closest' }
+      { 'type': 'object', 'modelIds': ['3dw.abc...', '3dw.efg...'], 'select': 'closest' }
    ```
    To specify a specific object id as a goal:
    ```
-      { 'objectIds': ['0_12'] }
+      { 'type': 'object', 'objectIds': ['0_12'] }
    ```
    To specify a specific room id as the goal:
    ```
-      { 'roomIds': ['0_1'] }
+      { 'type': 'room', 'roomIds': ['0_1'] }
    ```
 
    #### Navigation map

minos/config/envs/objectgoal_suncg_me.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'object_goal',
-    'goal': {'categories': ['arch', 'door'], 'select': 'random', 'dist_from_bbox': True},
+    'goal': {'type': 'object', 'categories': ['arch', 'door'], 'select': 'random', 'dist_from_bbox': True},
     'measure_fun': MeasureDistDirTime(),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/objectgoal_suncg_mf.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'object_goal',
-    'goal': {'categories': ['arch', 'door'], 'select': 'random', 'dist_from_bbox': True},
+    'goal': {'type': 'object', 'categories': ['arch', 'door'], 'select': 'random', 'dist_from_bbox': True},
     'measure_fun': MeasureDistDirTime(),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/objectgoal_suncg_se.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'object_goal',
-    'goal': {'categories': ['arch', 'door'], 'select': 'random', 'dist_from_bbox': True},
+    'goal': {'type': 'object', 'categories': ['arch', 'door'], 'select': 'random', 'dist_from_bbox': True},
     'measure_fun': MeasureDistDirTime(),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/objectgoal_suncg_sf.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'object_goal',
-    'goal': {'categories': ['arch', 'door'], 'select': 'random', 'dist_from_bbox': True},
+    'goal': {'type': 'object', 'categories': ['arch', 'door'], 'select': 'random', 'dist_from_bbox': True},
     'measure_fun': MeasureDistDirTime(),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/pointgoal_mp3d_m.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'point_goal',
-    'goal': {'position': 'random', 'radius': 0.25},
+    'goal': {'type': 'position', 'position': 'random', 'radius': 0.25},
     'measure_fun': MeasureDistDirTime(goal_dist_threshold=0.4),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/pointgoal_mp3d_s.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'point_goal',
-    'goal': {'position': 'random', 'radius': 0.25},
+    'goal': {'type': 'position', 'position': 'random', 'radius': 0.25},
     'measure_fun': MeasureDistDirTime(goal_dist_threshold=0.4),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/pointgoal_suncg_me.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'point_goal',
-    'goal': {'position': 'random', 'radius': 0.25},
+    'goal': {'type': 'position', 'type': 'position', 'position': 'random', 'radius': 0.25},
     'measure_fun': MeasureDistDirTime(goal_dist_threshold=0.4),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/pointgoal_suncg_mf.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'point_goal',
-    'goal': {'position': 'random', 'radius': 0.25},
+    'goal': {'type': 'position', 'type': 'position', 'position': 'random', 'radius': 0.25},
     'measure_fun': MeasureDistDirTime(goal_dist_threshold=0.4),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/pointgoal_suncg_se.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'point_goal',
-    'goal': {'position': 'random', 'radius': 0.25},
+    'goal': {'type': 'position', 'type': 'position', 'position': 'random', 'radius': 0.25},
     'measure_fun': MeasureDistDirTime(goal_dist_threshold=0.4),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/pointgoal_suncg_sf.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'point_goal',
-    'goal': {'position': 'random', 'radius': 0.25},
+    'goal': {'type': 'position', 'position': 'random', 'radius': 0.25},
     'measure_fun': MeasureDistDirTime(goal_dist_threshold=0.4),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/roomgoal_mp3d_m.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'room_goal',
-    'goal': {'minRooms': 1, 'roomTypes': 'any', 'select': 'random'},
+    'goal': {'type': 'room', 'minRooms': 1, 'roomTypes': 'any', 'select': 'random'},
     'measure_fun': MeasureGoalRoomType(),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/roomgoal_mp3d_s.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'room_goal',
-    'goal': {'minRooms': 1, 'roomTypes': 'any', 'select': 'random'},
+    'goal': {'type': 'room', 'minRooms': 1, 'roomTypes': 'any', 'select': 'random'},
     'measure_fun': MeasureGoalRoomType(),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/roomgoal_suncg_mf.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'room_goal',
-    'goal': {'minRooms': 1, 'roomTypes': 'any', 'select': 'random'},
+    'goal': {'type': 'room', 'minRooms': 1, 'roomTypes': 'any', 'select': 'random'},
     'measure_fun': MeasureGoalRoomType(),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/envs/roomgoal_suncg_sf.py

@@ -2,7 +2,7 @@
 
 config = {
     'task': 'room_goal',
-    'goal': {'minRooms': 1, 'roomTypes': 'any', 'select': 'random'},
+    'goal': {'type': 'room', 'minRooms': 1, 'roomTypes': 'any', 'select': 'random'},
     'measure_fun': MeasureGoalRoomType(),
     'reward_type': 'dist_time',
     'agent': {'radialClearance': 0.2},

minos/config/sim_args.py

@@ -4,7 +4,6 @@
 import os
 
 from easydict import EasyDict as edict
-from minos.lib.common import get_goal_for_task
 from minos.config import sim_config
 
 def str2bool(v):
@@ -225,7 +224,6 @@ def parse_sim_args(parser):
             'positionAt': 'goal'
         }]
 
-    args.goal = get_goal_for_task(args.task)
     args.audio = {'debug': args.debug, 'debug_memory': args.debug_audio_memory}
     args.actionTraceLogFields = ['forces']
     args.auto_start = not args.manual_start

minos/config/sim_config.py

@@ -61,7 +61,7 @@ def get_scene_params(arch_only=False, retexture=False, empty_room=False, dataset
 
     # task params
     'task': 'room_goal',
-    'goal': {'roomTypes': 'any', 'select': 'random'},
+    'goal': {'type': 'room', 'roomTypes': 'any', 'select': 'random'},
     'scenes_file': '../data/scenes.multiroom.csv',
     'states_file': '../data/episode_states.suncg.csv.bz2',
     'roomtypes_file': '../data/roomTypes.suncg.csv',

minos/lib/common.py

@@ -46,24 +46,6 @@ def ensure_dir_exists(path):
             raise
 
 
-def get_goal_for_task(task, goals=None):
-    # set goal depending on task type
-    if task == 'room_goal':
-        goal = {'minRooms': 1, 'roomTypes': 'any', 'select': 'random'}
-    elif task == 'point_goal':
-        goal = {'position': 'random', 'radius': 0.25}
-    elif task == 'door_goal':
-        goal = {'categories': ['arch', 'door'], 'select': 'random'}
-    else:  # default to door_goal
-        goal = {'categories': ['arch', 'door'], 'select': 'random'}
-
-    # if objectId goals provided, override default task goals
-    if goals:
-        goal = {'objectIds': [g['actionArgs'] for g in goals]}
-
-    return goal
-
-
 def observation_to_reward(reward_type, observation, meas, term, success, last_observation, frame_skip):
     if reward_type == 'path_delta':
         if term and success:

minos/lib/util/ActionTraces.py

@@ -1,7 +1,12 @@
 import csv
 
-from ..common import get_goal_for_task
 
+# TODO(MS) get rid of this default task-to-goal mapping by storing goal specs in action trace header
+TASK_TO_DEFAULT_GOAL = {
+    'point_goal': {'type': 'position', 'position': 'random', 'radius': 0.25}
+    'object_goal': {'type': 'object', 'categories': ['arch', 'door'], 'select': 'random'},
+    'room_goal': {'type': 'room', 'minRooms': 1, 'roomTypes': 'any', 'select': 'random'}
+}
 
 class ActionTrace:
     """ Action Trace for a episode"""
@@ -22,7 +27,7 @@ def start_state(self):
                 'scene': {'fullId': self.sceneId},
                 'task': self.task,
                 'start': self.start,
-                'goal': get_goal_for_task(self.task),
+                'goal': TASK_TO_DEFAULT_GOAL.get(self.task, None),
             }
         return self._start_state
 

minos/server/check_episode_states.js

@@ -85,7 +85,7 @@ function checkState(state, cb) {
   simulator.configure({
     scene: _.defaults({ fullId: sceneId }, sceneDefaults),
     start: { position: [state.startX, state.startY, state.startZ], angle: state.startAngle },
-    goal: { position: [state.goalX, state.goalY, state.goalZ], objectIds: state.goalObjectId }
+    goal: { type: 'position', position: [state.goalX, state.goalY, state.goalZ], objectIds: state.goalObjectId }
   });
 
   var gridname = outputDir + '/' + state.sceneId + '.' + archType + '.grid.json';