def load_data(self, data):
self.gt = {}
self.instr_ids = []
scans = []
for item in data:
self.gt[str(item['path_id'])] = item
if isinstance(item['path_id'], int):
self.instr_ids.extend([
'%d_%d' % (item['path_id'], i)
for i in range(len(item['instructions']))
])
else:
self.instr_ids.extend([
'%s_%d' % (item['path_id'], i)
for i in range(len(item['instructions']))
])
scans.append(item['scan'])
self.instr_ids = set(self.instr_ids)
scans = set(scans)
new_scans = set.difference(scans, self.scans)
if new_scans:
for scan in new_scans:
self.graphs[scan] = load_nav_graphs(scan)
self.distances[scan] = dict(
nx.all_pairs_dijkstra_path_length(self.graphs[scan]))
self.scans.update(new_scans)
def __init__(self, splits, path_type='planner_path'):
self.error_margin = 3.0
self.splits = splits
self.gt = {}
self.instr_ids = []
self.scans = []
for item in load_datasets(splits):
self.gt[item['inst_idx']] = item
self.instr_ids.append(item['inst_idx'])
self.scans.append(item['scan'])
# Add 'trusted_path' to gt metadata if necessary.
if path_type == 'trusted_path':
planner_goal = item['planner_path'][-1]
if planner_goal in item['player_path'][1:]:
self.gt[item['inst_idx']]['trusted_path'] = item[
'player_path'][:]
else:
self.gt[item['inst_idx']]['trusted_path'] = item[
'planner_path'][:]
self.scans = set(self.scans)
self.instr_ids = set(self.instr_ids)
self.graphs = load_nav_graphs(self.scans)
self.distances = {}
self.path_type = path_type
for scan, G in self.graphs.iteritems(): # compute all shortest paths
self.distances[scan] = dict(nx.all_pairs_dijkstra_path_length(G))
def _compute_shortest_paths(self, scan, path=None):
''' Load connectivity graph for each scan, useful for reasoning about shortest paths '''
graph = utils.load_nav_graphs(scan, path=path)
paths = dict(
nx.all_pairs_dijkstra_path(graph)) # paths from graph of scan
distances = dict(nx.all_pairs_dijkstra_path_length(
graph)) # distances for respective paths
return graph, paths, distances
def _load_nav_graphs(self):
''' Load connectivity graph for each scan, useful for reasoning about shortest paths '''
print 'Loading navigation graphs for %d scans' % len(self.scans)
self.graphs = load_nav_graphs(self.scans)
self.paths = {}
for scan,G in self.graphs.iteritems(): # compute all shortest paths
self.paths[scan] = dict(nx.all_pairs_dijkstra_path(G))
self.distances = {}
for scan,G in self.graphs.iteritems(): # compute all shortest paths
self.distances[scan] = dict(nx.all_pairs_dijkstra_path_length(G))
def _load_nav_graphs(self):
""" Load connectivity graph for each scan, useful for reasoning about shortest paths """
print('Loading navigation graphs for %d scans' % len(self.scans))
self.graphs = load_nav_graphs(self.scans)
self.paths = {}
for scan, G in self.graphs.items(): # compute all shortest paths
self.paths[scan] = dict(nx.all_pairs_dijkstra_path(G))
self.distances = {}
for scan, G in self.graphs.items(): # compute all shortest paths
self.distances[scan] = dict(nx.all_pairs_dijkstra_path_length(G))
def __init__(self, splits):
self.error_margin = 3.0
self.splits = splits
self.gt = {}
self.instr_ids = []
self.scans = []
for item in load_datasets(splits):
self.gt[item['path_id']] = item
self.scans.append(item['scan'])
self.instr_ids += ['%d_%d' % (item['path_id'],i) for i in range(3)]
self.scans = set(self.scans)
self.instr_ids = set(self.instr_ids)
self.graphs = load_nav_graphs(self.scans)
self.distances = {}
for scan,G in self.graphs.items(): # compute all shortest paths
self.distances[scan] = dict(nx.all_pairs_dijkstra_path_length(G))
def __init__(self, splits):
self.error_margin = 3.0
self.splits = splits
self.gt = {}
self.instr_ids = []
self.scans = []
for item in load_datasets(splits):
self.gt[item['path_id']] = item
self.scans.append(item['scan'])
self.instr_ids += ['%d_%d' % (item['path_id'],i) for i in range(3)]
self.scans = set(self.scans)
self.instr_ids = set(self.instr_ids)
self.graphs = load_nav_graphs(self.scans)
self.distances = {}
for scan,G in self.graphs.iteritems(): # compute all shortest paths
self.distances[scan] = dict(nx.all_pairs_dijkstra_path_length(G))
def _load_nav_graphs(self):
"""
load graph from self.scan,
Store the graph {scan_id: graph} in self.graphs
Store the shortest path {scan_id: {view_id_x: {view_id_y: [path]} } } in self.paths
Store the distances in self.distances. (Structure see above)
Load connectivity graph for each scan, useful for reasoning about shortest paths
:return: None
"""
print('Loading navigation graphs for %d scans' % len(self.scans))
self.graphs = load_nav_graphs(self.scans)
self.paths = {}
for scan, G in self.graphs.items(): # compute all shortest paths
self.paths[scan] = dict(nx.all_pairs_dijkstra_path(G))
self.distances = {}
for scan, G in self.graphs.items(): # compute all shortest paths
self.distances[scan] = dict(nx.all_pairs_dijkstra_path_length(G))
def __init__(self, splits, path_type='planner_path'):
self.error_margin = 3.0
self.splits = splits
self.gt = {}
self.instr_ids = []
self.scans = []
for item in load_datasets(splits):
self.gt[item['inst_idx']] = item
self.instr_ids.append(item['inst_idx'])
self.scans.append(item['scan'])
self.scans = set(self.scans)
self.instr_ids = set(self.instr_ids)
self.graphs = load_nav_graphs(self.scans)
self.distances = {}
self.path_type = path_type
for scan, G in self.graphs.iteritems(): # compute all shortest paths
self.distances[scan] = dict(nx.all_pairs_dijkstra_path_length(G))
def __init__(self, splits, encoder_type): # , subgoal):
self.error_margin = 3.0
self.splits = splits
self.gt = {}
self.instr_ids = []
self.scans = []
for item in load_datasets(splits,
"lstm"): # no matter what encoder type ?
self.gt[item["path_id"]] = item
self.scans.append(item["scan"])
self.instr_ids += [
"%d_%d" % (item["path_id"], i) for i in range(3)
]
self.scans = set(self.scans)
self.instr_ids = set(self.instr_ids)
self.graphs = load_nav_graphs(self.scans)
self.distances = {}
for scan, G in self.graphs.items(): # compute all shortest paths
self.distances[scan] = dict(nx.all_pairs_dijkstra_path_length(G))
def __init__(self, splits, scans, tok):
self.error_margin = 3.0
self.splits = splits
self.tok = tok
self.gt = {}
self.instr_ids = []
self.scans = []
for split in splits:
for item in load_datasets([split]):
if scans is not None and item['scan'] not in scans:
continue
self.gt[str(item['path_id'])] = item
self.scans.append(item['scan'])
self.instr_ids += ['%s_%d' % (item['path_id'], i) for i in range(len(item['instructions']))]
self.scans = set(self.scans)
self.instr_ids = set(self.instr_ids)
self.graphs = load_nav_graphs(self.scans)
self.distances = {}
for scan,G in self.graphs.items(): # compute all shortest paths
self.distances[scan] = dict(nx.all_pairs_dijkstra_path_length(G))
def __init__(self, args, splits=['train']):
self.args = args
# Check for vocabs, build if necessary
if not os.path.exists(self.args.train_vocab):
tu.write_vocab(
tu.build_vocab(self.args.data_dir, splits=["train"]),
self.args.train_vocab,
)
if not os.path.exists(self.args.trainval_vocab):
tu.write_vocab(
tu.build_vocab(self.args.data_dir, splits=["train", "val_seen", "val_unseen"]),
self.args.trainval_vocab,
)
# Load vocab and set tokenizer etc
if self.args.train_split == 'trainval':
self.vocab = tu.read_vocab(self.args.trainval_vocab)
else:
self.vocab = tu.read_vocab(self.args.train_vocab)
self.args.vocab_size = len(self.vocab)
self.tokenizer = tu.Tokenizer(self.vocab, self.args.max_input_length)
# Load training and val data
# data: [{"scan", "instr_id", "path", "heading", "instruction", "encoding", "xyzhe"}]
self.data = []
self.scans = []
for item in tu.load_datasets(self.args.data_dir, splits):
# Split multiple instructions into separate entries
for j,instr in enumerate(item['instructions']):
self.scans.append(item['scan'])
train_obj = {
'heading': item['heading'],
'scan': item['scan'],
'instruction': instr,
'instr_id': '%d_%d' % (item['path_id'], j),
'encoding': self.text_to_encoding(instr),
'path': item['path']
}
self.data.append(train_obj)
self.scans = set(self.scans)
self.splits = splits
random.shuffle(self.data)
self.reset_epoch()
print('Loaded %d data tuples from %s' % (len(self.data), self.splits))
# Load connectivity graph for each scan, useful for reasoning about shortest paths
print('Loading navigation graphs for %d scans' % len(self.scans))
self.graphs = load_nav_graphs(self.scans)
self.paths = {}
for scan,G in self.graphs.items(): # compute all shortest paths
self.paths[scan] = dict(nx.all_pairs_dijkstra_path(G))
self.distances = {}
for scan,G in self.graphs.items(): # compute all shortest paths
self.distances[scan] = dict(nx.all_pairs_dijkstra_path_length(G))
# Pre-calculate the position and heading along each path
for item in self.data:
G = self.graphs[item['scan']]
item['xyzhe'] = xyzhe_from_viewpoints(G, item['path'], item['heading'])
def __init__(
self,
splits,
sim=None,
args=None,
):
prefix = args.prefix
error_margin = args.error_margin
add_asterix = args.add_asterix
self.error_margin = error_margin
self.splits = splits
self.gt = {}
self.instr_ids = []
self.scans = []
self.instructions = {}
counts = defaultdict(int)
if prefix in ['r2r', 'R2R'] or 'RxR' in prefix:
instr_key = 'path_id'
elif prefix == 'REVERIE':
instr_key = 'id'
else:
raise NotImplementedError(
'dataset prefix {} not implemented'.format(prefix))
for item in load_datasets(splits, prefix=prefix):
path_id = item[instr_key]
count = counts[path_id]
counts[path_id] += 1
if add_asterix:
new_path_id = '{}*{}'.format(path_id, count)
item['path_id'] = new_path_id
self.gt['{}'.format(item[instr_key])] = item
self.scans.append(item['scan'])
if prefix == 'R2R':
self.instr_ids += [
'{}_{}'.format(item[instr_key], i) for i in range(3)
]
elif 'RxR' in prefix:
self.instr_ids += [
'{}_{}'.format(item[instr_key], i) for i in range(1)
]
elif 'REVERIE' == prefix:
self.instr_ids += [
'{}_{}'.format(item[instr_key], i)
for i in range(len(item['instructions']))
]
# pdb.set_trace()
else:
raise NotImplementedError()
for j, instruction in enumerate(item['instructions']):
self.instructions['{}_{}'.format(item[instr_key],
j)] = instruction
self.scans = set(self.scans)
self.instr_ids = set(self.instr_ids)
self.graphs = load_nav_graphs(self.scans)
self.distances = {}
for scan, G in self.graphs.items(): # compute all shortest paths
self.distances[scan] = dict(nx.all_pairs_dijkstra_path_length(G))
cnt[x] += 1
return cnt['lost'] / total * 100, cnt['uncertain_wrong'] / total * 100, \
cnt['already_asked'] / total * 100
data_path = '../../../data'
graphs = {}
distances = {}
with open(os.path.join(data_path, 'hanna/scan_split.json')) as f:
scan_split = json.load(f)
for split in ['train', 'val', 'test']:
for scan in scan_split[split]:
graphs[scan] = load_nav_graphs(scan)
distances[scan] = dict(nx.all_pairs_dijkstra_path_length(graphs[scan]))
filename = sys.argv[1]
with open(filename) as f:
data = json.load(f)
print('Success rate: %.2f' % success_rate(data))
print('SPL: %.2f' % spl_score(data))
print('Navigation error: %.2f' % navigation_error(data))
print('Requests: %.1f' % num_requests(data))
print('Nav mistake repeat: %.2f' % nav_mistake_repeat(data))
print('Ask repeat: %.2f' % ask_repeat(data))
for reason in ['lost', 'uncertain_wrong', 'already_asked']:
print_values = (reason, ) + reason_metrics(data, reason)
