habitat-lab
A modular high-level library to train embodied AI agents across a variety of tasks and environments.
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최종 버전 다운로드 (.zip)- action.yml
- action.yml
- bug-report.md
- feature-request.md
- questions-help-support.md
- deploy_pypi.yml
- install_and_test.yml
- PULL_REQUEST_TEMPLATE.md
- habitat-lab-demo.png
- pointnav_target_image.png
- pointnav_target_image_edge_1.png
- pointnav_target_image_edge_2.png
- pointnav_target_image_edge_3.png
- pointnav_target_image_edge_4.png
- skokloster-castle.glb_3662.gif
- top_down_map.png
- habitat-sim-demo.png
- quickstart.png
- view-transform-warp.png
- habitat-lab-demo.rst
- habitat-lab-tdmap-viz.rst
- habitat2.rst
- index.rst
- metadata-taxonomy.rst
- quickstart.rst
- view-transform-warp.rst
- .gitignore
- build-public.sh
- build.sh
- conf-public.py
- conf.py
- docs.rst
- basic_viewer.yaml
- basic_viewer.py
- README.md
- xr_reader.yaml
- README.md
- xr_reader.py
- minimal.py
- minimal_cfg.yaml
- README.md
- headless_server.yaml
- pick_throw_vr.yaml
- pick_throw_vr.py
- README.md
- hitl_rearrange.yaml
- README.md
- rearrange.py
- demo.json.gz
- habitat_llm_base.yaml
- habitat_llm_multi.yaml
- dataset.yaml
- hitl_multi.yaml
- hitl_single.yaml
- lang_rearrange_humanoid_only.yaml
- lang_rearrange_spot_humanoid.yaml
- language_rearrange.yaml
- language_rearrange_multi_agent.yaml
- server.yaml
- app_data.py
- app_state_base.py
- app_state_end_session.py
- app_state_feedback.py
- app_state_load_episode.py
- app_state_lobby.py
- app_state_reset.py
- app_state_start_screen.py
- app_state_start_session.py
- app_states.py
- end_episode_form.py
- habitat_llm_loader.py
- main.py
- metrics.py
- object_state_manipulator.py
- README.md
- rearrange_v2.py
- s3_upload.py
- session.py
- session_recorder.py
- state_machine.py
- ui.py
- ui_overlay.py
- util.py
- world.py
- sim_viewer.yaml
- README.md
- sim_viewer.py
- habitat2_gym_tutorial.py
- Habitat2_Quickstart.py
- Habitat_Lab.py
- Habitat_Lab_TopdownMap_Visualization.py
- habitat2_gym_tutorial.ipynb
- Habitat2_Quickstart.ipynb
- Habitat_Lab.ipynb
- Habitat_Lab_TopdownMap_Visualization.ipynb
- articulated_agents_tutorial.ipynb
- humanoids_tutorial.ipynb
- polymetis_example.ipynb
- __init__.py
- benchmark.py
- display_utils.py
- example.py
- franka_example.py
- interactive_play.py
- new_actions.py
- register_new_sensors_and_measures.py
- shortest_path_follower_example.py
- vln_benchmark.py
- vln_reference_path_follower_example.py
- __init__.py
- ppo_agents.py
- simple_agents.py
- __init__.py
- base_il_trainer.py
- base_trainer.py
- baseline_registry.py
- env_factory.py
- env_spec.py
- habitat_env_factory.py
- logging.py
- obs_transformers.py
- rollout_storage.py
- storage.py
- tensor_dict.py
- tensorboard_utils.py
- windowed_running_mean.py
- il_eqa_cnn_pretrain.yaml
- il_pacman_nav.yaml
- il_vqa.yaml
- nn_skills.yaml
- oracle_skills.yaml
- oracle_skills_human_multi_agent.yaml
- oracle_skills_multi_agent.yaml
- hl_fixed.yaml
- hl_neural.yaml
- hl_neural_multi_agent.yaml
- hl_planner.yaml
- monolithic.yaml
- ddppo_imagenav_example.yaml
- ddppo_imagenav_gibson.yaml
- ppo_imagenav_example.yaml
- ddppo_instance_imagenav.yaml
- ddppo_objectnav.yaml
- ddppo_objectnav_hm3d.yaml
- ddppo_objectnav_hssd-hab.yaml
- ddppo_objectnav_procthor-hab.yaml
- ddppo_pointnav.yaml
- ppo_pointnav.yaml
- ppo_pointnav_example.yaml
- ppo_pointnav_habitat_iccv19.yaml
- rl_hierarchical.yaml
- rl_hierarchical_oracle_nav.yaml
- rl_hierarchical_oracle_nav_human.yaml
- rl_rearrange.yaml
- rl_rearrange_easy.yaml
- rl_skill.yaml
- social_nav.yaml
- plan_pop.yaml
- pop_play.yaml
- __init__.py
- default.py
- default_structured_configs.py
- README.md
- __init__.py
- data.py
- eqa_cnn_pretrain_data.py
- nav_data.py
- __init__.py
- models.py
- __init__.py
- eqa_cnn_pretrain_trainer.py
- pacman_trainer.py
- vqa_trainer.py
- __init__.py
- metrics.py
- README.md
- requirements.txt
- __init__.py
- ddppo.py
- create_gibson_large_dataset.py
- gibson_dset_with_qual.json
- __init__.py
- resnet.py
- resnet_policy.py
- running_mean_and_var.py
- __init__.py
- ddp_utils.py
- multi_node_slurm.sh
- README.md
- requirements.txt
- single_node.sh
- __init__.py
- fixed_policy.py
- high_level_policy.py
- neural_policy.py
- planner_policy.py
- __init__.py
- art_obj.py
- humanoid_pick.py
- ll_nav.py
- nav.py
- nn_skill.py
- noop.py
- oracle_nav.py
- pick.py
- place.py
- reset.py
- skill.py
- wait.py
- __init__.py
- hierarchical_policy.py
- hrl_ppo.py
- hrl_rollout_storage.py
- utils.py
- __init__.py
- action_embedding.py
- rnn_state_encoder.py
- simple_cnn.py
- __init__.py
- multi_agent_access_mgr.py
- pop_play_wrappers.py
- self_play_wrappers.py
- utils.py
- __init__.py
- agent_access_mgr.py
- cpc_aux_loss.py
- evaluator.py
- habitat_evaluator.py
- policy.py
- ppo.py
- ppo_trainer.py
- single_agent_access_mgr.py
- updater.py
- ver-system.svg
- __init__.py
- ci-requirements.txt
- environment_worker.py
- inference_worker.py
- preemption_decider.py
- queue.py
- README.md
- report_worker.py
- requirements.txt
- task_enums.py
- ver_rollout_storage.py
- ver_trainer.py
- worker_common.py
- __init__.py
- requirements.txt
- __init__.py
- utils.py
- __init__.py
- common.py
- info_dict.py
- timing.py
- __init__.py
- py.typed
- run.py
- version.py
- MANIFEST.in
- README.md
- setup.py
- __init__.py
- average_rate_tracker.py
- frequency_limiter.py
- interprocess_record.py
- keyframe_utils.py
- networking_process.py
- __init__.py
- app_driver.py
- config_helper.py
- gui_application.py
- image_framebuffer_drawer.py
- lab_driver.py
- replay_gui_app_renderer.py
- sim_driver.py
- __init__.py
- app_service.py
- app_state_abc.py
- app_state_tutorial.py
- __init__.py
- hitl_defaults.yaml
- IBMPlexSans-Regular.ttf
- ProggyClean.ttf
- README.txt
- __init__.py
- average_helper.py
- client_helper.py
- client_message_manager.py
- debug_video_writer.py
- event.py
- gui_drawer.py
- gui_input.py
- hitl_main.py
- hydra_utils.py
- key_mapping.py
- remote_client_state.py
- selection.py
- serialize_utils.py
- text_drawer.py
- types.py
- ui_elements.py
- user_mask.py
- xr_input.py
- __init__.py
- baselines_controller.py
- controller_abc.py
- controller_helper.py
- gui_controller.py
- __init__.py
- avatar_switcher.py
- camera_helper.py
- episode_helper.py
- gui_navigation_helper.py
- gui_pick_helper.py
- gui_placement_helper.py
- gui_throw_helper.py
- hablab_utils.py
- hitl_tutorial.py
- stub_client.html
- test_episode_save_files.py
- __init__.py
- version.py
- smoke_test.yaml
- base_test_cfg.yaml
- conftest.py
- test_app_state_start_session.py
- test_s3_upload.py
- test_example_apps.py
- test_main.py
- test_user_mask.py
- INTERNALS.md
- MANIFEST.in
- README.md
- requirements.txt
- setup.py
- __init__.py
- humanoid_base_controller.py
- humanoid_rearrange_controller.py
- humanoid_seq_pose_controller.py
- __init__.py
- kinematic_humanoid.py
- README.md
- __init__.py
- fetch_robot.py
- fetch_suction.py
- franka_robot.py
- README.md
- spot_robot.py
- stretch_robot.py
- __init__.py
- articulated_agent_base.py
- articulated_agent_interface.py
- manipulator.py
- mobile_manipulator.py
- README.md
- static_manipulator.py
- multi_agent_social_nav.yaml
- multi_agent_tidy_house.yaml
- hssd_spot_human.yaml
- hssd_spot_human_social_nav.yaml
- imagenav_base.yaml
- imagenav_gibson.yaml
- imagenav_mp3d.yaml
- imagenav_test.yaml
- instance_imagenav_hm3d_v1.yaml
- instance_imagenav_hm3d_v2.yaml
- objectnav_hm3d.yaml
- objectnav_hm3d_with_semantic.yaml
- objectnav_hssd-hab.yaml
- objectnav_hssd-hab_with_semantic.yaml
- objectnav_mp3d.yaml
- objectnav_mp3d_with_semantic.yaml
- objectnav_procthor-hab.yaml
- objectnav_procthor-hab_with_semantic.yaml
- pointnav_base.yaml
- pointnav_franka.yaml
- pointnav_gibson.yaml
- pointnav_habitat_test.yaml
- pointnav_hm3d.yaml
- pointnav_mp3d.yaml
- eqa_mp3d.yaml
- eqa_rgbonly_mp3d.yaml
- vln_r2r.yaml
- idle.yaml
- idle_single_camera.yaml
- interact.yaml
- humanoid_oracle.yaml
- multi_agent_bench.yaml
- single_agent_bench.yaml
- spot_humanoid_oracle.yaml
- spot_oracle.yaml
- spot_spot_oracle.yaml
- pddl_geo_base_task.yaml
- prepare_groceries.yaml
- rearrange.yaml
- rearrange_easy.yaml
- set_table.yaml
- tidy_house.yaml
- play.yaml
- play_human.yaml
- play_spot.yaml
- play_stretch.yaml
- close_cab.yaml
- close_fridge.yaml
- nav_to_obj.yaml
- open_cab.yaml
- open_fridge.yaml
- pick.yaml
- pick_spot.yaml
- place.yaml
- reach_state.yaml
- mp3d.yaml
- gibson.yaml
- mp3d.yaml
- hm3d_v1.yaml
- hm3d_v2.yaml
- hm3d.yaml
- hssd-hab.yaml
- mp3d.yaml
- procthor-hab.yaml
- gibson.yaml
- gibson_0_plus.yaml
- gibson_v2.yaml
- habitat_test.yaml
- hm3d.yaml
- mp3d.yaml
- hssd.yaml
- replica_cad.yaml
- mp3d_r2r.yaml
- fetch.yaml
- fetch_no_wheels.yaml
- fetch_suction.yaml
- human.yaml
- spot.yaml
- stretch.yaml
- depth_agent.yaml
- depth_head_agent.yaml
- rgb_agent.yaml
- rgb_head_agent.yaml
- rgbd_agent.yaml
- rgbd_head_agent.yaml
- rgbd_head_rgbd_arm_agent.yaml
- rgbd_head_rgbdp_arm_agent.yaml
- rgbdp_head_rgbd_arm_agent.yaml
- rgbds_agent.yaml
- semantic_agent.yaml
- spot_agent.yaml
- rearrange_sim.yaml
- fetch_suction_arm.yaml
- fetch_suction_arm_base.yaml
- fetch_suction_arm_base_empty.yaml
- fetch_suction_arm_base_stop.yaml
- fetch_suction_base_stop.yaml
- spot_base_arm_empty.yaml
- stretch_base_arm_empty.yaml
- prepare_groceries.yaml
- rearrange.yaml
- rearrange_easy.yaml
- set_table.yaml
- tidy_house.yaml
- tidy_house_2obj.yaml
- eqa.yaml
- imagenav.yaml
- instance_imagenav.yaml
- objectnav.yaml
- pointnav.yaml
- pointnav_franka.yaml
- vln_r2r.yaml
- __init__.py
- CONFIG_KEYS.md
- default.py
- default_structured_configs.py
- read_write.py
- README.md
- __init__.py
- env_batch_renderer.py
- env_batch_renderer_constants.py
- README.md
- __init__.py
- agent.py
- benchmark.py
- challenge.py
- dataset.py
- embodied_task.py
- env.py
- environments.py
- logging.py
- registry.py
- simulator.py
- spaces.py
- utils.py
- vector_env.py
- __init__.py
- mp3d_eqa_dataset.py
- __init__.py
- instance_image_nav_dataset.py
- __init__.py
- object_nav_dataset.py
- __init__.py
- pointnav_dataset.py
- pointnav_generator.py
- prepare_groceries.yaml
- rearrange.yaml
- rearrange_easy.yaml
- set_table.yaml
- tidy_house.yaml
- all_receptacles.yaml
- bench_config.yaml
- empty.yaml
- hssd_ycb_multi_goal.yaml
- in_drawer.yaml
- in_fridge.yaml
- test_config.yaml
- __init__.py
- art_sampler.py
- object_sampler.py
- object_target_sampler.py
- receptacle.py
- scene_sampler.py
- __init__.py
- combine_datasets.py
- generate_episode_inits.py
- navmesh_utils.py
- rearrange_dataset.py
- rearrange_generator.py
- run_episode_generator.py
- __init__.py
- r2r_vln_dataset.py
- __init__.py
- registration.py
- utils.py
- __init__.py
- gym_definitions.py
- gym_env_episode_count_wrapper.py
- gym_env_obs_dict_wrapper.py
- gym_wrapper.py
- __init__.py
- actions.py
- debug_visualizer.py
- habitat_simulator.py
- kinematic_relationship_manager.py
- object_state_machine.py
- sim_utilities.py
- __init__.py
- registration.py
- __init__.py
- eqa.py
- __init__.py
- instance_image_nav_task.py
- nav.py
- object_nav_task.py
- shortest_path_follower.py
- __init__.py
- actions.py
- articulated_agent_action.py
- grip_actions.py
- humanoid_actions.py
- oracle_nav_action.py
- pddl_actions.py
- fp.yaml
- replica_cad.yaml
- __init__.py
- pddl_action.py
- pddl_defined_predicates.py
- pddl_domain.py
- pddl_logical_expr.py
- pddl_predicate.py
- pddl_sensors.py
- pddl_task.py
- rearrange_pddl.py
- __init__.py
- oracle_social_nav_actions.py
- social_nav_sensors.py
- social_nav_task.py
- utils.py
- __init__.py
- articulated_object_sensors.py
- articulated_object_task.py
- nav_to_obj_sensors.py
- nav_to_obj_task.py
- pick_sensors.py
- pick_task.py
- place_sensors.py
- place_task.py
- reach_sensors.py
- reach_task.py
- __init__.py
- articulated_agent_manager.py
- marker_info.py
- multi_agent_sensors.py
- rearrange_grasp_manager.py
- rearrange_sensors.py
- rearrange_sim.py
- rearrange_task.py
- robot_specific_sensors.py
- utils.py
- __init__.py
- vln.py
- __init__.py
- registration.py
- utils.py
- 100x100.png
- __init__.py
- fog_of_war.py
- maps.py
- utils.py
- __init__.py
- common.py
- env_utils.py
- geometry_utils.py
- humanoid_utils.py
- pickle5_multiprocessing.py
- profiling_wrapper.py
- test_utils.py
- __init__.py
- py.typed
- version.py
- MANIFEST.in
- requirements.txt
- setup.py
- habitat3.gif
- habitat3_social_nav_training_fps.png
- habitat3_social_nav_training_reward.png
- habitat3_social_nav_training_reward_time.png
- habitat_compressed.gif
- habitat_lab_structure.png
- habitat_logo_with_text_horizontal_blue.png
- habitat_with_hydra.png
- hitl_tool.gif
- tensorboard_video_demo.gif
- composite.mp4
- assert_bench.py
- bench_runner.sh
- hab2_benchmark.py
- plot_bench.py
- README.md
- bench_runner.sh
- h3_plot_bench.py
- hab3_benchmark.py
- README.md
- rearrange_spot.py
- __init__.py
- asset_pipeline.py
- asset_processor.py
- configs.py
- job.py
- magnum_decimation.py
- util.py
- README.md
- requirements.txt
- setup.py
- export_smplx_bodies.py
- generate_profile_shell_scripts.py
- habitat_all_sensors_test.yaml
- habitat_hm3d_instance_image_nav_test.yaml
- habitat_hssd-hab_object_nav_test.yaml
- habitat_mp3d_eqa_test.yaml
- habitat_mp3d_object_nav_test.yaml
- habitat_procthor-hab_object_nav_test.yaml
- habitat_r2r_vln_test.yaml
- ddppo_imagenav_test.yaml
- ddppo_instance_imagenav_test.yaml
- ddppo_pointnav_test.yaml
- ppo_imagenav_test.yaml
- ppo_pointnav_test.yaml
- habitat-sim_trajectory_data.json
- test-sim-geodesic-distance-test-golden.json
- test_baseline_agents.py
- test_baseline_config.py
- test_baseline_resnet.py
- test_baseline_trainers.py
- test_baseline_training.py
- test_baselines_hydra.py
- test_config.py
- test_dataset.py
- test_ddppo_reduce.py
- test_debug_visualizer.py
- test_demo_notebook.py
- test_examples.py
- test_gather_objects.py
- test_geom_utils.py
- test_gym_wrapper.py
- test_habitat_env.py
- test_habitat_example.py
- test_habitat_sim.py
- test_habitat_task.py
- test_humanoid.py
- test_install.py
- test_instance_image_nav_task.py
- test_kinematic_relationship_manager.py
- test_mp3d_eqa.py
- test_navmesh_utils.py
- test_object_nav_task.py
- test_object_state_machine.py
- test_obs_transformers.py
- test_pointnav_dataset.py
- test_pointnav_resnet_policy.py
- test_r2r_vln.py
- test_rearrange_task.py
- test_rnn_state_encoder.py
- test_robot_wrapper.py
- test_sensors.py
- test_sim_utils.py
- test_spaces.py
- test_tensor_dict.py
- test_visual_utils.py
- .editorconfig
- .gitignore
- .pre-commit-config.yaml
- CODE_OF_CONDUCT.md
- CONTRIBUTING.md
- DATASETS.md
- DETAILS.md
- Dockerfile
- LICENSE
- mypy.ini
- pyproject.toml
- README.md
- setup.cfg
- TROUBLESHOOTING.md
🚀 설치 가이드
1. 코드 내려받기
git clone https://github.com/facebookresearch/habitat-lab
깃허브에서 프로젝트 코드 전체를 내 컴퓨터로 내려받습니다.
cd habitat-lab
방금 내려받은 프로젝트 폴더 안으로 이동합니다.
2. 공식 설치 스크립트
쉬움 추천사전 준비물
- Python 3 pip 명령어를 쓰려면 Python이 필요합니다.
pip install pygame==2.0.1 pybullet==3.0.4
PyPI에 배포된 패키지를 바로 설치합니다. 소스 클론이 필요 없습니다.
설치 후 새 터미널을 열고, 프로그램의 버전 확인 명령(예: --version)으로 정상 설치됐는지 확인하세요.
이 레포의 README에 적힌 실제 명령어를 그대로 가져왔습니다.
3. Docker
쉬움사전 준비물
- Git GitHub에서 프로젝트 코드를 내려받으려면 필요합니다.
- Docker Desktop 컨테이너를 빌드하고 실행하려면 필요합니다. 설치 후 실행해서 백그라운드에 켜두세요.
docker build -t habitat-lab .
Dockerfile을 기반으로 실행 가능한 이미지를 빌드합니다.
docker run -p 8080:80 habitat-lab
빌드된 이미지를 실제 컨테이너로 실행합니다.
터미널에 docker compose ps 를 입력해 컨테이너들이 Up 상태인지 확인하세요. README에 포트 번호가 적혀있다면 브라우저에서 http://localhost:포트번호 로 접속해보세요.
4. Python
쉬움사전 준비물
pip install -e habitat-lab # install habitat_lab
requirements.txt 등에 명시된 파이썬 라이브러리를 설치합니다.
pip install -e habitat-baselines # install habitat_baselines
requirements.txt 등에 명시된 파이썬 라이브러리를 설치합니다.
python -m habitat_sim.utils.datasets_download --uids habitat_test_scenes --data-path data/
파이썬 스크립트(또는 모듈)를 실행합니다.
python -m habitat_sim.utils.datasets_download --uids habitat_test_pointnav_dataset --data-path data/
파이썬 스크립트(또는 모듈)를 실행합니다.
pip install pygame==2.0.1 pybullet==3.0.4
PyPI에 배포된 패키지를 바로 설치합니다. 소스 클론이 필요 없습니다.
에러 메시지 없이 실행되고 터미널에 안내 문구가 출력되면 정상입니다.
이 레포의 README에 적힌 실제 명령어를 그대로 가져왔습니다.
// repository documentation
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