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![overview](https://raw.githubusercontent.com/ZhuFengdaaa/MAIN/main/assets/overview.jpg)

# MAIN: A Real-world Multi-agent Indoor Navigation Benchmark for Cooperative Learning

An implementation of "MAIN: A Real-world Multi-agent Indoor Navigation Benchmark for Cooperative Learning"

## Architecture Overview

![](https://raw.githubusercontent.com/ZhuFengdaaa/MAIN/main/assets/framework_v2.jpg)

## Installing dependencies:

This code is tested on python 3.6.10, pytorch v1.4.0 and CUDA V9.1.85.

Install pytorch from https://pytorch.org/ according to your machine configuration.

This code uses older versions of [habitat-sim](https://github.com/facebookresearch/habitat-sim) and [habitat-lab](https://github.com/facebookresearch/habitat-lab). Install them by running the following commands:

#### Installing habitat-sim:

```
git clone https://github.com/facebookresearch/habitat-sim.git
cd habitat-sim 
git checkout ae6ba1cdc772f7a5dedd31cbf9a5b77f6de3ff0f
pip install -r requirements.txt; 
python setup.py install --headless # (for headless machines with GPU)
python setup.py install # (for machines with display attached)
```

#### Installing habitat-lab:
```
git clone --branch stable https://github.com/facebookresearch/habitat-lab.git
cd habitat-lab
git checkout 676e593b953e2f0530f307bc17b6de66cff2e867
pip install -e .
```

## Setup
Clone the repository and install the requirements:

```
git clone https://github.com/ZhuFengdaaa/MAIN.git
cd MAIN
pip install -r requirements.txt
```

#### Download MAIN dataset

```
mkdir data
cd data
mkdir datasets
cd datasets
```

download dataset from the link below:

`https://drive.google.com/file/d/1H3fvyPi_OoXJfzV0HzK-Gix5fiizdM4Z/view?usp=sharing`

extract the dataset file:

`tar-xf main_data.tar`

download the oracle occupancy from the link below:

https://drive.google.com/file/d/1vDY3Wuc8jLSeGwnb2GSlGUzECTgkKo9k/view?usp=sharing

extract the oracle map file:

`unzip oracle.zip`

#### Download Matterport3D scenes

The Matterport scene dataset and multiON dataset should be placed in `data` folder under the root directory (`multiON/`) in the following format:

```
MAIN/
  data/
    scene_datasets/
      mp3d/
        1LXtFkjw3qL/
          1LXtFkjw3qL.glb
          1LXtFkjw3qL.navmesh
          ...
    datasets/
      multinav/
        3_ON/
          train/
            ...
          val/
            val.json.gz
        2_ON
          ...
        1_ON
          ...
```

Download Matterport3D data for Habitat by following the instructions mentioned [here](https://github.com/facebookresearch/habitat-api#data).

### Training

For training an OracleEgoMap (`oracle-ego`) agent, run this from the root directory:

```
python habitat_baselines/run.py --exp-config habitat_baselines/config/multinav/ppo_mamonav.yaml --agent-type oracle-ego --run-type train
```
For other agent types, the `--agent-type` argument would change accordingly.

### Evaluation

```
python habitat_baselines/run.py --exp-config habitat_baselines/config/multinav/ppo_mamonav.yaml --agent-type oracle-ego --run-type eval
```

## Acknowledgements
This repository is built upon [Habitat Lab](https://github.com/facebookresearch/habitat-lab), [Habitat Sim](https://github.com/facebookresearch/habitat-lab), [multiON](https://github.com/saimwani/multiON).

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