This repository is the official implementation of History Aware Multimodal Transformer for Vision-and-Language Navigation. Project webpage: https://cshizhe.github.io/projects/vln_hamt.html
Vision-and-language navigation (VLN) aims to build autonomous visual agents that follow instructions and navigate in real scenes. In this work, we introduce a History Aware Multimodal Transformer (HAMT) to incorporate a long-horizon history into multimodal decision making. HAMT efficiently encodes all the past panoramic observations via a hierarchical vision transformer. It, then, jointly combines text, history and current observation to predict the next action. We first train HAMT end-to-end using several proxy tasks including single-step action prediction and spatial relation prediction, and then use reinforcement learning to further improve the navigation policy. HAMT achieves new state of the art on a broad range of VLN tasks, including VLN with fine-grained instructions (R2R, RxR) high-level instructions (R2R-Last, REVERIE), dialogs (CVDN) as well as long-horizon VLN (R4R, R2R-Back).
- Install Matterport3D simulators: follow instructions here. We use the latest version (all inputs and outputs are batched).
export PYTHONPATH=Matterport3DSimulator/build:$PYTHONPATH
- Install requirements:
conda create --name vlnhamt python=3.8.5
conda activate vlnhamt
pip install torch==1.7.1+cu101 torchvision==0.8.2+cu101 torchaudio==0.7.2 -f https://download.pytorch.org/whl/torch_stable.html
pip install -r requirements.txt
-
Download data from Dropbox, including processed annotations, features and pretrained models. Put the data in `datasets' directory.
-
(Optional) If you want to train HAMT end-to-end, you should download original Matterport3D data.
Scripts to extract visual features are in preprocess
directory:
CUDA_VISIBLE_DEVICES=0 python preprocess/precompute_img_features_vit.py \
--model_name vit_base_patch16_224 --out_image_logits \
--connectivity_dir datasets/R2R/connectivity \
--scan_dir datasets/Matterport3D/v1_unzip_scans \
--num_workers 4 \
--output_file datasets/R2R/features/pth_vit_base_patch16_224_imagenet.hdf5
Stage 1: Pretrain with fixed ViT features
NODE_RANK=0
NUM_GPUS=4
CUDA_VISIBLE_DEVICES='0,1,2,3' python -m torch.distributed.launch \
--nproc_per_node=${NUM_GPUS} --node_rank $NODE_RANK \
pretrain_src/main_r2r.py --world_size ${NUM_GPUS} \
--model_config pretrain_src/config/r2r_model_config.json \
--config pretrain_src/config/pretrain_r2r.json \
--output_dir datasets/R2R/exprs/pretrain/cmt-vitbase-6tasks
Stage 2: Train ViT in an end-to-end manner
Change the config file as `pretrain_r2r_e2e.json'.
cd finetune_src
bash scripts/run_r2r.bash
bash scripts/run_r2r_back.bash
bash scripts/run_r2r_last.bash
bash scripts/run_r4r.bash
bash scripts/run_reverie.bash
bash scripts/run_cvdn.bash
If you find this work useful, please consider citing:
@InProceedings{chen2021hamt,
author = {Chen, Shizhe and Guhur, Pierre-Louis and Schmid, Cordelia and Laptev, Ivan},
title = {History Aware multimodal Transformer for Vision-and-Language Navigation},
booktitle = {NeurIPS},
year = {2021},
}
Some of the codes are built upon pytorch-image-models, UNITER and Recurrent-VLN-BERT. Thanks them for their great works!