Recurrent-VLN-BERT

Environment Setup

conda create -n recurrent python=3.6
conda activate recurrent
conda install torchvision==0.4.0 cudatoolkit=10.0 -c pytorch
conda install caffe-gpu
pip install torch==1.10.0
pip install -r ../R2R-EnvDrop/python_requirements.txt
pip install pytorch-transformers==1.0.0

Download the pre-trained OSCAR weights (link) and place it at Oscar/, download the pretrained Recurrent-VLN-BERT checkpoint (link) and place it at snap/VLNBERT-train-OriginalR2R

Setup Matterport

See R2R-EnvDrop Setup Matterport.

Commands

The following commands are used in our study:

Default Setting

bash run/test_agent_default.bash

Instruction Ablations

# Command Format: 
# bash [script] [cuda_device_id (default 0)] [setting] [repeat_time]

# -----Object---------
# mask
bash run/test_agent_mask_instr.bash 0 mask_object 1

# replace
bash run/test_agent_mask_instr.bash 1 replace_object 5

# controlled trial
bash run/test_agent_mask_instr.bash 1 random_mask_for_object 5


# ------Direction--------
# mask
bash run/test_agent_mask_instr.bash 1 mask_direction 1

# replace
bash run/test_agent_mask_instr.bash 2 replace_direction 5

# controlled trial
bash run/test_agent_mask_instr.bash 2 random_mask_for_direction 5


# ------Numeric--------
# numeric default
bash run/test_agent_mask_instr.bash 0 numeric_default 1

# mask
bash run/test_agent_mask_instr.bash 0 mask_numeric 1

# replace
bash run/test_agent_mask_instr.bash 0 replace_numeric 5

# controlled trial
bash run/test_agent_mask_instr.bash 2 random_mask_for_numeric 5

Environment Ablations

# mask only foreground objects
bash run/test_agent_mask_env.bash 0 foreground

# mask objects except for wall/floor/ceiling
bash run/test_agent_mask_env.bash 0 all_visible

# controlled trial
bash run/test_agent_mask_env.bash 0 foreground_controlled_trial

# flip
bash run/test_agent_mask_env.bash 0 flip

Dynamic Environment Object Masking

Please switch to the dynamic branch for the dynamic masking experiments.

# dynamically mask environment object instances mentioned in the instructions
bash run/test_agent_dynamic_mask_env.bash 0 dynamic

# controlled trial
bash run/test_agent_dynamic_mask_env.bash 0 dynamic_controlled_trial