-
Notifications
You must be signed in to change notification settings - Fork 3
/
eval_navigation_agents.sh
340 lines (288 loc) · 11.1 KB
/
eval_navigation_agents.sh
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
: '
Script to evaluate navigation agents
========================================================
[ARGUMENT_SPECIFICATIONS]
========================================================
[*] Evaluating under "clean" conditions
----------------------------------------
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \ # Folder where evaluation JSON (trajectories + metrics will be stored)
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo \ # Experiment config
-c <path-to-the-checkpoint> \ # Path to the relevant checkpoint
-t <time-stamp-associated-with-the-checkpoint> \ # Time-stamp associated with the checkpoint to ve evaluated
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_clean \ # Additional tag to be associated with the experiments
-s 12345 \
-e \ # Random seed
-tsg 0 # GPU to run evaluation on
[*] Evaluating under "visual" corruptions
----------------------------------------
[**] For Defocus Blur, Motion Blur, Spatter, Low Lighting, Speckle Noise as visual corruptions
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo \
-c <path-to-the-checkpoint> \
-t <time-stamp-associated-with-the-checkpoint> \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_"$CORR" \
-s 12345 \
-e \
-tsg 0 \
-vc Defocus_Blur \ # Visual corruption to be applied
-vs 5 # Severity (1-5) of the visual corruption
[**] For Lower-FOV and Camera-Crack as visual corruptions, use the corresponding experiment configs
under projects/robustnav_baselines/experiments/robustnav_eval/
[*] Evaluating under "dynamics" corruptions
----------------------------------------
[**] For Motion-Bias (Constant & Stochastic), Motion Drift & Motor Failure
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo_dyn \
-c <path-to-the-checkpoint> \
-t <time-stamp-associated-with-the-checkpoint> \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_clean_mb_const \
-s 12345 \
-e \
-tsg 0 \
-dcr \ # Set to true for Motion-Bias, Motion-Drift & Motor-Failure
-ctr \ # Set to true for Motion-Bias (Constant) translation
-crt \ # Set to true for Motion-Bias (Constant) rotation
-str \ # Set to true for Motion-Bias (Stochastic) translation
-srt \ # Set to true for Motion-Bias (Stochastic) rotation
-dr \ # Set to true for Motion-Drift
-dr_deg 10.0 \ # Drift angle for Motion-Drift
-mf True # Set to true for Motor-Failure
[**] For PyRobot Noise Models, use the corresponding experiment config under
projects/robustnav_baselines/experiments/robustnav_eval/
========================================================
[TASKS & SENSOR SPECIFICATIONS]
========================================================
[*] For evaluating checkpoints corresponding to different tasks (PointNav & ObjectNav), pick the
corresponding experiment config from projects/robustnav_baselines/experiments/robustnav_eval/
[*] For evaluating checkpoints corresponding to different sensor specifications (RGB & RGB-D), pick the
corresponding experiment config from projects/robustnav_baselines/experiments/robustnav_eval/
========================================================
[CHECKPOINTS & TIME-STAMPS]
========================================================
[*] Arguments to enter for the `-t` command line argument for evaluation
[**] PointNav RGB
File: pnav_rgb_agent.pt
Timestamp: 2021-03-02_05-58-58
[**] PointNav RGB-D
File: pnav_rgbd_agent.pt
Timestamp: 2021-03-02_06-16-25
[**] ObjectNav RGB
File: onav_rgb_agent.pt
Timestamp: 2021-03-02_05-12-42
[**] ObjectNav RGB-D
File: onav_rgbd_agent.pt
Timestamp: 2021-02-09_22-35-15
[**] PointNav RGB (Data Augmentation)
File: pnav_rgb_daug_agent.pt
Timestamp: 2021-03-03_05-38-47
[**] PointNav RGB (Action Prediction)
File: pnav_rgb_act_pred_agent.pt
Timestamp: 2021-03-15_05-22-27
[**] PointNav RGB (Rotation Prediction)
File: pnav_rgb_rot_pred_agent.pt
Timestamp: 2021-03-15_07-55-57
[**] PointNav RGB (Action Prediction + SS-Adapt)
[***] Clean
File: pnav_rgb_act_pred_clean_adapt_agent.pt
Timestamp: 2021-03-16_04-17-24
[***] Lower-FOV
File: pnav_rgb_act_pred_fov_adapt_agent.pt
Timestamp: 2021-03-16_04-38-43
[***] Defocus Blur
File: pnav_rgb_act_pred_defocus_blur_agent.pt
Timestamp: 2021-03-16_04-49-44
[***] Camera-Crack
File: pnav_rgb_act_pred_cam_crack_adapt_agent.pt
Timestamp: 2021-03-16_05-06-14
[***] Spatter
File: pnav_rgb_act_pred_spatter_adapt_agent.pt
Timestamp: 2021-03-16_05-16-30
[**] PointNav RGB (Rotation Prediction Prediction + SS-Adapt)
[***] Clean
File: pnav_rgb_act_pred_clean_adapt_agent.pt
Timestamp: 2021-03-16_08-24-48
[***] Lower-FOV
File: pnav_rgb_act_pred_fov_adapt_agent.pt
Timestamp: 2021-03-16_08-37-44
[***] Defocus Blur
File: pnav_rgb_act_pred_defocus_blur_agent.pt
Timestamp: 2021-03-16_08-51-22
[***] Camera-Crack
File: pnav_rgb_act_pred_cam_crack_adapt_agent.pt
Timestamp: 2021-03-16_09-12-07
[***] Spatter
File: pnav_rgb_act_pred_spatter_adapt_agent.pt
Timestamp: 2021-03-16_09-25-38
'
# ================================================================================
# PointNav RGB agents
# ================================================================================
# Clean
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_clean \
-s 12345 \
-e \
-tsg 0
# Visual Corruptions
# ********************************************************************************
# (Defocus Blur, Motion Blur, Spatter, Low Lighting, Speckle Noise)
for CORR in Defocus_Blur Lighting Speckle_Noise Spatter Motion_Blur
do
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_"$CORR"_s5 \
-s 12345 \
-e \
-tsg 0 \
-vc $CORR \
-vs 5
done
# Lower-FOV
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo_fov \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_fov \
-s 12345 \
-e \
-tsg 0
# Camera-Crack
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo_cam_crack \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_cam_crack \
-s 12345 \
-e \
-tsg 0
# Dynamics Corruptions
# ********************************************************************************
# Motion Bias (Constant)
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo_dyn \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_clean_mb_const \
-s 12345 \
-e \
-tsg 0 \
-dcr \
-ctr \
-crt
# Motion Bias (Stochastic)
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo_dyn \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_clean_mb_stoch \
-s 12345 \
-e \
-tsg 0 \
-dcr \
-str \
-srt
# Motion Drift
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo_dyn \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_clean_drift_deg_10 \
-s 12345 \
-e \
-tsg 0 \
-dcr \
-dr \
-dr_deg 10.0
# Motor Failure
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo_dyn \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_clean_motfail \
-s 12345 \
-e \
-tsg 0 \
-dcr \
-mf
# PyRobot Noise Models
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo_pyrobot_dyn \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_clean_pyrobot_ilqr_1 \
-s 12345 \
-e \
-tsg 0
# Visual + Dynamics Corruptions
# ********************************************************************************
# Motion Bias (Stochastic)
# (Defocus Blur, Speckle Noise, Spatter)
for CORR in Defocus_Blur Speckle_Noise Spatter
do
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo_dyn \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_"$CORR"_s5_mb_stoch \
-s 12345 \
-e \
-tsg 0 \
-dcr \
-str \
-srt \
-vc $CORR \
-vs 5
done
# Motion Drift
# (Defocus Blur, Speckle Noise, Spatter)
for CORR in Defocus_Blur Speckle_Noise Spatter
do
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo_dyn \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_"$CORR"_s5_drift_deg_10 \
-s 12345 \
-e \
-tsg 0 \
-dcr \
-dr \
-dr_deg 10.0 \
-vc $CORR \
-vs 5
done
# PyRobot Noise
## (Defocus Blur, Speckle Noise, Spatter)
for CORR in Defocus_Blur Speckle_Noise Spatter
do
python main.py \
-o storage/robothor-pointnav-rgb-resnetgru-ddppo-eval \
-b projects/robustnav_baselines/experiments/robustnav_eval pointnav_robothor_vanilla_rgb_resnet_ddppo_pyrobot_dyn \
-c rnav_checkpoints/pnav_rgb_agent.pt \
-t 2021-03-02_05-58-58 \
-et rnav_pointnav_vanilla_rgb_resnet_ddppo_"$CORR"_s5_pyrobot_ilqr_1 \
-s 12345 \
-e \
-tsg 0 \
-vc $CORR \
-vs 5
done