Remove stale import, Add path error messages, fix path instructions.

README.md

@@ -86,10 +86,11 @@ Watch a full successful flight of our Aerial ObjectNav Agent in action:
   1.First, you should launch the AirSim environment server.
 
   ```bash
-  python airsim_plugin/AirVLNSimulatorServerTool.py --port=30000 --root_path= "your workspace path"
+  python airsim_plugin/AirVLNSimulatorServerTool.py --port=30000 --root_path= "path to TRAIN_ENVS or TEST_ENVS"
   ```
 
-  2.Then, you can execute the bash script to run the simulator
+  2.Then, you can execute the bash script to run the simulator. Make sure 
+  the `dataset_path` and `eval_save_path` args in the scripts point to correct paths.
 
   ```bash
   #AOA-F/V
@@ -98,6 +99,7 @@ Watch a full successful flight of our Aerial ObjectNav Agent in action:
   #CLIP-H
   bash scripts/eval_cliph.sh
 
+  # To compute metrics
   bash scripts/metric.sh
   ```
 

airsim_plugin/AirVLNSimulatorServerTool.py

@@ -440,8 +440,12 @@ def _open_scenes(self, ip: str , scen_id_gpu_list: list):
             if choose_env_exe_paths[index] is None:
                 p_s.append(None)
                 continue
+            elif not os.path.exists(choose_env_exe_paths[index]):
+                print(f"{choose_env_exe_paths[index]} not found ! failed to open scene.")
+                p_s.append(None)
+                continue
             else:
-                subprocess_execute = "bash {}  -RenderOffscreen -NoSound -NoVSync -GraphicsAdapter={} --settings={}".format(
+                subprocess_execute = "bash '{}'  -RenderOffscreen -NoSound -NoVSync -GraphicsAdapter={} --settings='{}'".format(
                     choose_env_exe_paths[index],
                     gpu_id,
                     str(CWD_DIR / 'settings' / str(ports[index]) / 'settings.json'),
@@ -480,9 +484,11 @@ def reopen_scene_from_port(self, port):
         scene_id, gpu_id = self.port_to_scene[port]
         env_info = env_exec_path_dict.get(scene_id)
         env_path = os.path.join(args.root_path, env_info['exec_path'], env_info['bash_name'] + '.sh')
-
+        if not os.path.exists(env_path):
+            print(f"{env_path} not found ! failed to reopen scene.")
+            return
 
-        subprocess_execute = "bash {} -RenderOffscreen -NoSound -NoVSync -GraphicsAdapter={} -settings={} ".format(
+        subprocess_execute = "bash '{}' -RenderOffscreen -NoSound -NoVSync -GraphicsAdapter={} -settings='{}'".format(
                     env_path,
                     gpu_id,
                     str(CWD_DIR / 'settings' / str(port) / 'settings.json'),

scripts/eval_cliph.sh

@@ -1,11 +1,12 @@
 cd "$(dirname "$0")/.."
 root_dir=.
+workspace_dir=..
 echo $PWD
 
 CUDA_VISIBLE_DEVICES=0 python -u $root_dir/src/eval_cliph.py \
     --maxActions 150 \
-    --eval_save_path $root_dir/CLIP_logs/scene \
-    --dataset_path your/dataset/path  \
+    --eval_save_path $workspace_dir/CLIP_logs/DownTown \
+    --dataset_path $workspace_dir/DATASET/UAV-ON-data/valset/DownTown.json  \
     --is_fixed  true\
     --gpu_id 0 \
     --batchSize 1 \

scripts/eval_fixed.sh

@@ -1,11 +1,12 @@
 cd "$(dirname "$0")/.."
 root_dir=.
+workspace_dir=..
 echo $PWD
 
 CUDA_VISIBLE_DEVICES=0 python -u $root_dir/src/eval_2.py \
     --maxActions 150 \
-    --eval_save_path $root_dir/logs/scene \
-    --dataset_path your/dataset/path \
+    --eval_save_path $workspace_dir/fixed_logs/DownTown \
+    --dataset_path $workspace_dir/DATASET/UAV-ON-data/valset/DownTown.json  \
     --is_fixed  true\
     --gpu_id 0 \
     --batchSize 1 \

scripts/eval_unfixed.sh

@@ -1,11 +1,12 @@
 cd "$(dirname "$0")/.."
 root_dir=.
+workspace_dir=..
 echo $PWD
 
 CUDA_VISIBLE_DEVICES=0 python -u $root_dir/src/eval_2.py \
     --maxActions 150 \
-    --eval_save_path $root_dir/unfixed_logs/scene \
-    --dataset_path your/dataset/path \
+    --eval_save_path $workspace_dir/unfixed_logs/DownTown \
+    --dataset_path $workspace_dir/DATASET/UAV-ON-data/valset/DownTown.json  \
     --is_fixed  false\
     --gpu_id 0 \
     --batchSize 1 \

scripts/metric.sh

@@ -1,6 +1,7 @@
 cd "$(dirname "$0")/.."
 root_dir=.
+workspace_dir=..
 echo $PWD
 
 python -u $root_dir/utils/classify_metric.py \
-    --base_path $root_dir/logs
+    --base_root $workspace_dir/CLIP_logs

src/env_uav.py

@@ -15,7 +15,6 @@
 import tqdm
 from src.common.param import args
 from utils.logger import logger
-from airsim_plugin.airsim_settings import AirsimActions
 sys.path.append(str(Path(str(os.getcwd())).resolve()))
 from airsim_plugin.AirVLNSimulatorClientTool import AirVLNSimulatorClientTool
 from utils.env_utils_uav import SimState, getNextPosition
@@ -417,4 +416,4 @@ def _update_distance_to_target(self):
                 distance = float(np.linalg.norm(curr - coords))
 
             print(f'batch[{idx}/{len(self.batch)}]| distance: {round(distance, 2)}, position: {curr[0]}, {curr[1]}, {curr[2]}, target: {coords}')
-
+

utils/classify_metric.py

@@ -233,17 +233,30 @@ def get_termination_type(task_folder):
 
     if os.path.exists(success_dir):
         all_success_dirs.append(success_dir)
+    else:
+        print(f"Did not find success directory '{success_dir}' for scene '{scene}'")
     if os.path.exists(oracle_dir):
         all_oracle_dirs.append(oracle_dir)
+    else:
+        print(f"Did not find oracle directory '{oracle_dir}' for scene '{scene}'")
     if os.path.exists(fail_dir):
         all_fail_dirs.append(fail_dir)
+    else:
+        print(f"Did not find fail directory '{fail_dir}' for scene '{scene}'")
+
+
+
 
 # ===== Task Count Statistics =====
 success_tasks = sum(count_task_folder(d) for d in all_success_dirs)
 oracle_tasks = sum(count_task_folder(d) for d in all_oracle_dirs)
 fail_tasks = sum(count_task_folder(d) for d in all_fail_dirs)
 total_tasks = success_tasks + oracle_tasks + fail_tasks
 
+if total_tasks == 0:
+    print(f"No tasks found. Make sure you have your log paths set up correctly.")
+    exit(1)
+
 # ===== SR & OSR =====
 sr = success_tasks / total_tasks if total_tasks > 0 else 0
 osr = (oracle_tasks + success_tasks) / total_tasks if total_tasks > 0 else 0

utils/env_utils_uav.py

@@ -5,7 +5,7 @@
 import copy
 
 from src.common.param import args
-from airsim_plugin.airsim_settings import AirsimActions, AirsimActionSettings
+from airsim_plugin.airsim_settings import AirsimActionSettings
 from utils.logger import logger
 
 
@@ -188,4 +188,4 @@ def getNextPosition(current_pose: airsim.Pose, action, step_size, is_fixed):
         airsim.Vector3r(new_position[0], new_position[1], new_position[2]),
         airsim.Quaternionr(x_val=new_orientation.x_val, y_val=new_orientation.y_val, z_val=new_orientation.z_val, w_val=new_orientation.w_val)
     )
-    return (new_pose, fly_type)
+    return (new_pose, fly_type)