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The instruction for implementation of SG-Nav for object-goal navigation on MP3D dataset.

Installation

Step 1 Download Matterport3D scene dataset from here. Download object-goal navigation episodes dataset from here. According to your dataset path, set the scene dataset path (SCENES_DIR) and episode dataset path (DATA_PATH) in config file configs/challenge_objectnav2021.local.rgbd.yaml.

Step 2 Install habitat-sim according to here. Install habitat-lab according to here.

Step 3 Install the conda environment we provided.

conda env create -f SG_Nav.yml

Step 4 Install GLIP model.

cd GLIP
python setup.py build develop --user

Download GLIP checkpoint.

cd MODEL
wget https://huggingface.co/GLIPModel/GLIP/resolve/main/glip_large_model.pth

Step 5 Install ConceptGraph according to here.