代码地址
https://github.com/memmelma/VO-Transformer/tree/dev
环境配置
1.拉取github库
git clone https://github.com/memmelma/VO-Transformer.git
cd VO-Transformer/
2.创建环境
创建environment.yml
name: vot_nav
channels:
- pytorch
- conda-forge
dependencies:
- python=3.7
- cmake=3.14.0
- numpy
- numba
- tqdm
- tbb
- joblib
- h5py
- pytorch=1.7.0
- torchvision=0.8.0
- cudatoolkit=11.0
- pip
- pip:
- yacs
- lz4
- opencv-python
- future
- numba
- numpy
- tqdm
- tbb
- joblib
- h5py
- opencv-python
- lz4
- yacs
- wandb
- tensorboard==1.15
- ifcfg
- jupyter
- gpustat
- moviepy
- imageio
- einops
conda env create -f environment.yml
conda activate vot_nav
3.安装habitat-sim
conda install -c aihabitat -c conda-forge habitat-sim=0.1.7 headless
4.安装habitat-lab
git clone https://github.com/facebookresearch/habitat-lab.git -b v0.1.7
cd habitat-lab/
pip install -r requirements.txt
python setup.py develop --all
5.Install timm and other
cd ..
git clone https://github.com/rwightman/pytorch-image-models.git
cd pytorch-image-models
pip install -e .
pip install protobuf==3.20
6.配置数据集和模型
直接参考原本github库
生成数据
./generate_data.sh --act_type -1 --N_list 250000 25000 --name_list 'train' 'val'
一个漫长的过程…
6.运行训练的
./start_vo.sh --config-yaml configs/vo/example_vo.yaml
7.运行eval脚本
./start_rl.sh --run-type eval --config-yaml configs/rl/evaluation/example_rl.yaml
