home_robot_sim

Home-Robot Simulation

Table of contents

1. Environment setup
2. Supported tasks

Environment setup

These setup instructions are meant to be followed after reaching step 7 in the main README.md file. If you haven't completed those instructions yet, please refer to the main README.md and complete the steps mentioned there before continuing.

On an Ubuntu machine with GPU:

1. Install habitat_sim and other dependencies

mamba env update -f src/home_robot_sim/environment.yml

2. Fetch submodules

git submodule update --init --recursive src/third_party/habitat-lab

3. Install habitat-lab, habitat-baselines and pytorch3d.

python -m pip install -e src/third_party/habitat-lab/habitat-lab
python -m pip install -e src/third_party/habitat-lab/habitat-baselines
python -m pip install "git+https://github.com/facebookresearch/pytorch3d.git"

4. Install home_robot_sim library

# Install home robot sim interfaces
pip install -e src/home_robot_sim

Supported tasks

Please follow the links below for instructions on setting up the data directory, training policies and running evaluations for our supported tasks.

1. Open Vocab Mobile Manipulation (OVMM) in Habitat
2. ObjectNav in Habitat
3. ImageNav in Habitat [WIP]