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Releases: facebookresearch/habitat-lab

v0.3.2

30 Oct 22:08
@aclegg3 aclegg3
v0.3.2
2c164c3
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v0.3.2 Latest
Latest

Major features and improvements:

Simulation Utilities:

  • ArticulatedLink Open/Close API by @aclegg3 in #1823
  • default_link API and supporting changes by @aclegg3 in #1890
  • "next_to" utility by @aclegg3 in #1871
    • refactor next_to to use vertical overlap and horizontal L2 by @aclegg3 in #1918
    • add vertical padding to next_to by @aclegg3 in #2014
  • ObjectStateSpec, ObjectStateMachine base classes by @aclegg3 in #1842
  • Better Receptacle filtering refactor by @aclegg3 in #1889
    • rec filter generic subset type parsing with option of "within_set" by @aclegg3 in #1916
  • Kinematic Relationship Manager by @aclegg3 in #1909
  • AnyObjectReceptacle by @aclegg3 in #1924
  • sample points on the floor in a particular region by @aclegg3 in #1945
  • Embodied Unoccluded Navmesh Snap util by @aclegg3 in #1949
  • ManagedObject to Receptacle matching by @aclegg3 in #2074
  • DebugVisualizer:
    • DebugVisualizer: equirect, removal/deconstruction, image matrix util, and unit test by @aclegg3 in #1978
    • DebuvVisualizer utility to show 3D points projected on dbv images by @aclegg3 in #1999
    • add debug_draw callback to DebugVisualizer by @aclegg3 in #2066

Other changes and bugfixes:

  • refactor snap_down support_surface setup for AO links by @aclegg3 in #1946
  • add receptacle filtering to rearrange_sim by @aclegg3 in #2053
  • remove auto downloader from RearrangeDataset init by @aclegg3 in #1969
  • RearrangeSim: Allow rigid objects to be collidable in kinematic mode by @aclegg3 in #1903
  • Pass ao scaling through to scale the receptacle meshes also by @aclegg3 in #1881
  • Predicate System Refactor by @ASzot in #1855
  • guard against missing filter_type for backward compatability by @aclegg3 in #1941
  • allow STATIC AOs in kinematic_mode by @aclegg3 in #1942
  • unoccluded navmesh snap multiple ignores by @aclegg3 in #1943
  • add ignore_object_ids to snap_down API by @aclegg3 in #1971
  • refactor navmesh_utils SimpleVelocityControlEnv and de-duplicate by @aclegg3 in #1970
  • [bugfix] - Fix a bug with snap_down on articulated links by @aclegg3 in #1982
  • robustify snap_down: use the joined render and collision bounding boxes for the snap point by @aclegg3 in #2010
  • Refactor to support expanded Simulator reset in RearrangeTask by @aclegg3 in #2018
  • New function to generate humanoid walking motion by @xavierpuigf in #2067
  • [BE] - receptacle support surface object ids by @aclegg3 in #2073
  • [bugfix] in support surface selection and KRM hard failure by @aclegg3 in #2083
  • rearrange_sim no navmesh caching by @aclegg3 in #2088
  • [BE] - fix inconsistent base_rot property by @aclegg3 in #2085

Human in the Loop (HiTL) Improvements:

  • Fix receptacle import when multiple importers are present. by @0mdc in #1869
  • Handle null remote input. by @0mdc in #1866
  • Change server camera sync config name. by @0mdc in #1867
  • HITL: Add client message destination mask. by @0mdc in #1868
  • Add statistics to stub HITL client. by @0mdc in #1864
  • Add remote text rendering to HITL. by @0mdc in #1865
  • HITL - Add remote mouse input support. by @0mdc in #1870
  • HITL - Add typing for comms data dictionaries by @0mdc in #1874
  • HITL - Change async network process loop. by @0mdc in #1875
  • HITL - Support multiple remote inputs. by @0mdc in #1873
  • HITL - Multiplayer GUI drawer. by @0mdc in #1876
  • HITL - Remove interprocess semaphore. by @0mdc in #1878
  • HITL - Add unit testing. by @0mdc in #1877
  • HITL - Use GuiDrawer instead of debug line render. by @0mdc in #1879
  • HITL - [Placeholder interface] Prevent placing objects when placement is impossible. by @0mdc in #1882
  • HITL: Add remote mouse ray support. by @0mdc in #1891
  • HITL - Fix left mouse click and draw box call. by @0mdc in #1894
  • [Logging] Add data logger to rearrange_v2 app by @Ram81 in #1896
  • [Task] Add Habitat-LLM episodes in rearrange_v2 app by @Ram81 in #1833
  • HITL - Improve reliability and exception logging of network loop. by @0mdc in #1897
  • HITL - Add line rendering, box rendering, push/pop transforms and circle normals. by @0mdc in #1898
  • HITL - Clear mouse held buttons in remote client state. by @0mdc in #1899
  • HITL - Add support for mouse position delta. by @0mdc in #1901
  • HITL - Fix occasional crash in keyframe consolidation. by @0mdc in #1900
  • HITL - Activate mouse look with middle mouse button. Adjust sensitivity. by @0mdc in #1902
  • HITL - Check for any input to determine idleness. by @0mdc in #1907
  • HITL - Automatically create output directories for recorder. by @0mdc in #1906
  • HITL - Add an event system to track connections and disconnections. by @0mdc in #1905
  • HITL - Mouse-based UI. by @0mdc in #1908
  • HITL - Add configuration to control episode iterator by episode ID. by @0mdc in #1935
  • HITL - Consolidate keyframe instance metadata. by @0mdc in #1934
  • HITL - Allow empty user masks and add users to dependency injection container. by @0mdc in #1932
  • HITL - Add S3 upload utility. by @0mdc in #1929
  • HITL - Add mock connection parameter config for testing purposes. by @0mdc in #1930
  • HITL - Add dedicated kick queue. by @0mdc in #1931
  • HITL - Add collaboration episode loader. by @0mdc in #1933
  • HITL - Move global world state into its own class + related bugfixes. by @0mdc in #1928
  • Multiplayer HITL by @0mdc in #1939
  • HITL - Disallow placing objects onto held objects. by @0mdc in #1951
  • HITL - Add cross-process signal to toggle inflow of new connections. by @0mdc in https://github.com/facebookresearch/habitat-lab...
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aclegg3, MatthewChang, and 4 other contributors
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v0.3.1

15 Mar 23:11
@aclegg3 aclegg3
v0.3.1
1426167
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v0.3.1

Major features and improvements

Other changes and bugfixes

  • Update indices humanoid by @xavierpuigf in #1657

  • Fix Spot-floating bug by @rpartsey in #1661

  • query attr filepath if available to find AO rec meshes by @aclegg3 in #1669

  • [BE] Fix the env pause issue by @jimmytyyang in #1744

  • [BE] Make key as string by @jimmytyyang in #1764

  • Add habitat_hitl.disable_agents_and_stepping config param by @eundersander in #1769

  • Fixed config habitat_hitl.episodes_filter='4' and episodes_filter episode order by @henrysamer in #1772

  • (1) Fixed error when using config habitat_hitl.episodes_filter='4' (2) Fixed episodes_filter episode order not respected (3) added check for data folder in current working directory by @henrysamer in #1774

  • Adapt to Magnum Python bindings update by @mosra in #1776

  • correction2 of type-cast when self._hitl_config.episodes_filter==None by @henrysamer in #1780

  • Remove RTLD_GLOBAL flag from apps. by @0mdc in #1783

  • Use receptacle unique name for dictionary key by @aclegg3 in #1782

  • -- Change ints to float in sensor spec position and orientation by @jturner65 in #1793

  • Correct object initialization by @xavierpuigf in #1806

  • [bugfix] - minor generator fixes by @aclegg3 in #1814

  • --Test fixes to support semantic sensor updates by @jturner65 in #1801

  • --Address regression and missing stage_id checks by @jturner65 in #1822

  • [3.1] Fix missing org name changes. by @0mdc in #1850

  • [3.1] Fix assorted typos in user-facing files. by @0mdc in #1851

  • Fix agent GPS compass key in multi-agent README by @gchhablani in #1844

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Full Changelog: v0.3.0...v0.3.1

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mosra, jturner65, and 10 other contributors
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v0.3.0

20 Oct 01:17
@aclegg3 aclegg3
v0.3.0
afe4058
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v0.3.0

Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots (https://aihabitat.org/habitat3/)

  • Multi-agent training
  • Humanoid agents
  • HSSD dataset
  • Human-in-the-loop evaluation app for rearrangement tasks

What's Changed

New Contributors

Full Changelog: v0.2.5...v0.3.0

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aclegg3, xavierpuigf, and 5 other contributors
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v0.2.5

29 Jul 02:58
@aclegg3 aclegg3
v0.2.5
17ec6b3
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v0.2.5

Major features and improvements:

Other improvements and bug fixes:

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Full Changelog: v0.2.4...v0.2.5

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aclegg3, Skylion007, and 7 other contributors
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v0.2.4

31 Mar 21:53
@vincentpierre vincentpierre
v0.2.4
1639e1a
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v0.2.4

Major features and improvements:

Other improvements and bug fixes:

New Contributors

Full Changelog: v0.2.3...v0.2.4

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aclegg3, Skylion007, and 12 other contributors
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v0.2.3

08 Dec 21:41
@vincentpierre vincentpierre
v0.2.3
2c7519b
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v0.2.3

Major features and improvements:

Other improvements and bug fixes:

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Full Changelog: v0.2.2...v0.2.3

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mathfac, aclegg3, and 16 other contributors
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v0.2.2

15 Jun 15:59
@aclegg3 aclegg3
v0.2.2
0f454f6
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v0.2.2

Major features and improvements:

  • Complete Habitat 2.0 tasks, episode generation, and benchmark migration (#837, #862, #764)
  • Upgrade minimum python version to 3.7 by @aclegg3 in #801
  • [ObsTransforms] Add support for semantic sensor observation transforms by @Ram81 in #847
  • Move gym from habitat_baselines to habitat by @vincentpierre in #864
  • HM3D Semantics update by @srama2512 in #822

Other improvements and bug fixes:

New Contributors

Full Changelog: v0.2.1...v0.2.2

Contributors

mosra, mathfac, and 15 other contributors
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v0.2.2 rc1

06 Jun 16:55
@aclegg3 aclegg3
v0.2.2_rc1
2ec4f68
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Pre-release

v0.2.2 rc1

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v0.2.1

30 Jun 10:20
@mathfac mathfac
v0.2.1
bc85d09
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v0.2.1

Major features and improvements:

  • Addition of velocity_control actions and support for Gaussian action (#655)

House Assistant Benchmarks Task Changes:

  • Collision force measurements fixes. (#684)
  • Contact measuring API changes with properly return contacts differentiating between object-on-scene, robot-on-scene, and robot-on-object types of contacts.
  • Starting state and the robot arm proper location fix.
  • Snap to grasp manager implemented and the grasp manager takes care of the collision groups.
  • Refactored observations_to_image to allow variable-sized sensor images. The different image sizes are now tiled side by side. Image and text flip fix. (#687)
  • Added actions for setting absolute kinematic state and target joint states. (#685)
  • Added separate IK config for the interactive play script.
    Refactored measurements code to break down the reward signal and reuse measurements for the reward and success signal.

Habitat Baselines Changes:

  • Support rendering images from observation with unequal dimensions.
  • Added benchmark_render.py, a new version of benchmark.py which supports rendering videos and saving trajectories to a file.
  • Added Gym wrapper with config for which parts of the observation to get.
  • Added Sense Plan Act pipeline from Habitat 2.0 paper.

Other improvements and bug fixes:

  • Add detail of headless vs. not to the readme (#679)
  • Fix to use resume config when training (#695)
  • Fix bug with size of the joint observation space.
  • Fixed the base transform was not being properly calculated.
  • Added interactive play test utility script. This is an important way to test the functionality. (#684)
  • Added collision specific measurements.
  • Refactored the rearrange simulator class to have less responsibility.
  • Record trajectory from the interactive play script for automated testing.
  • Added episode generation script for rearrangement tasks under examples folder.
  • Fixed properly load in scene config for new ReplicaCAD format.

Corresponding Habitat-Sim v0.2.1 release.

Kudos to our community contributors: @naokiyokoyama.

Contributors

naokiyokoyama
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v0.1.7

17 Feb 08:03
@mathfac mathfac
v0.1.7
d6ed1c0
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v0.1.7

Major features and improvements:

  • Added fisheye camera to observation transformations by @matsuren (#486, #496)
    Implementation equirectangular into perspective images of observation transformation and performance improvement on cube map to equirectangular transformation by @matsuren (#517, #485)
  • Collapsed PPO and DD-PPO trainers, added faster RNN code, and double-buffered sampling, switched to optimal default models like ResNet18 (#538, #557)
  • Added performance profiling capabilities for PPO/DDPPO training (#477, #476)
  • Added Visual Question Answering baseline and NAV-PACMAN baseline implementation for EQA by @mukulkhanna (#487, #539)
  • Added mypy and static mandatory type checking and significantly improved typing of the existing codebase (#492, #527, #535, #535)
  • +5% speedup for all model training with zero-copy pickling method used for the vector environments (#582)

Other improvements and bug fixes:

  • Support of modern gym API (#498)
  • Enhance the display of the top-down map for a floor the agent is currently on by @Skylark0924 (#580)
  • Support properties and members with a call method for vector environment (#548)
  • [Backwards Incompatible Change] Address out of sync with Habitat Sim config file extensions and refactor for removal of Habitat SimSceneConfiguration (#508, #516, #525)
  • Episode generator bug fix by @Jbwasse2 (#560)
  • SLAM baselines install script update by @Jbwasse2 (#552)
  • Allow PointNav GPS and Compass to support 3D (#553)
  • Fix DDP Reduction in PyTorch 1.7 when the model has unused parameters #586
  • Compatibility with refactored CameraSensor and SceneGraph in Habitat Sim (#575)
  • Bugfix for the situation when the child pipe was not closed (#585)
  • Updates of code style guide enforcement tooling (#512)
  • Continue integrations improvements: using pre-installed CUDA and better pytest results handling (#510, #511, #524)
  • Added support of running evaluation on multiple single checkpoints in the same folder (#493)
  • Added shellcheck to pre-commit hook (#509)

Corresponding Habitat-Sim v0.1.7 release.

Kudos to our community contributors: @matsuren, @mukulkhanna, @Jbwasse2, @Skylark0924

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