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[Feat] Add Habitat vis_debug feature #265

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[Feat] Add Habitat vis_debug feature #265

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cf02a76
add vis debug in habitat
Jan 21, 2026
8b5de79
fix draw pixel bug
Jan 22, 2026
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62 changes: 62 additions & 0 deletions internnav/habitat_extensions/vln/habitat_vln_evaluator.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@

import cv2
import habitat
import imageio
import numpy as np
import quaternion
import torch
Expand Down Expand Up @@ -105,6 +106,10 @@ def __init__(self, cfg: EvalCfg):

# ------------------------------------- model ------------------------------------------
self.model_args = argparse.Namespace(**cfg.agent.model_settings)
self.vis_debug = bool(getattr(self.model_args, "vis_debug", False))
self.vis_debug_path = getattr(
self.model_args, "vis_debug_path", os.path.join(self.output_path, "vis_debug")
)

processor = AutoProcessor.from_pretrained(self.model_args.model_path)
processor.tokenizer.padding_side = 'left'
Expand Down Expand Up @@ -288,9 +293,17 @@ def _run_eval_dual_system(self) -> tuple:

vis_frames = []
step_id = 0
vis_writer = None

if self.save_video:
os.makedirs(os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), exist_ok=True)
if self.vis_debug:
debug_dir = os.path.join(self.vis_debug_path, f'epoch_{self.epoch}')
os.makedirs(debug_dir, exist_ok=True)
vis_writer = imageio.get_writer(
os.path.join(debug_dir, f'{scene_id}_{episode_id:04d}.mp4'),
fps=5,
)

rgb_list = []
action_seq = []
Expand All @@ -307,6 +320,7 @@ def _run_eval_dual_system(self) -> tuple:

# ---------- 2. Episode step loop -----------
while (not done) and (step_id <= self.max_steps_per_episode):
draw_pixel_goal = False
# refactor agent get action
rgb = observations["rgb"]
depth = observations["depth"]
Expand Down Expand Up @@ -422,6 +436,7 @@ def _run_eval_dual_system(self) -> tuple:
coord = [int(c) for c in re.findall(r'\d+', llm_outputs)]

pixel_goal = [int(coord[1]), int(coord[0])]
draw_pixel_goal = True

# look down --> horizontal
self.env.step(action_code.LOOKUP)
Expand Down Expand Up @@ -526,6 +541,24 @@ def _run_eval_dual_system(self) -> tuple:

print("step_id", step_id, "action", action)

if vis_writer is not None:
vis = np.asarray(save_raw_image).copy()
vis = cv2.putText(
vis,
f"step {step_id} action {int(action)}",
(20, 40),
cv2.FONT_HERSHEY_SIMPLEX,
1,
(0, 255, 0),
2,
)
if pixel_goal is not None:
if draw_pixel_goal:
cv2.circle(
vis, (pixel_goal[0], pixel_goal[1]), radius=8, color=(255, 0, 0), thickness=-1
)
vis_writer.append_data(vis)

if action == action_code.LOOKDOWN:
self.env.step(action)
observations, _, done, _ = self.env.step(action)
Expand Down Expand Up @@ -586,6 +619,8 @@ def _run_eval_dual_system(self) -> tuple:
quality=9,
)
vis_frames.clear()
if vis_writer is not None:
vis_writer.close()

self.env.close()

Expand Down Expand Up @@ -643,9 +678,17 @@ def _run_eval_system2(self) -> tuple:

vis_frames = []
step_id = 0
vis_writer = None

if self.save_video:
os.makedirs(os.path.join(self.output_path, f'vis_{self.epoch}', f'{scene_id}'), exist_ok=True)
if self.vis_debug:
debug_dir = os.path.join(self.vis_debug_path, f'epoch_{self.epoch}')
os.makedirs(debug_dir, exist_ok=True)
vis_writer = imageio.get_writer(
os.path.join(debug_dir, f'{scene_id}_{episode_id:04d}.mp4'),
fps=5,
)
initial_height = self.env._env.sim.get_agent_state().position[1]

rgb_list = []
Expand All @@ -662,6 +705,7 @@ def _run_eval_system2(self) -> tuple:

# ---------- 2. Episode step loop -----------
while (not done) and (step_id <= self.max_steps_per_episode):
draw_pixel_goal = False
# refactor agent get action
rgb = observations["rgb"]
depth = observations["depth"]
Expand Down Expand Up @@ -755,6 +799,7 @@ def _run_eval_system2(self) -> tuple:
coord = [int(c) for c in re.findall(r'\d+', llm_outputs)]

pixel_goal = [int(coord[1]), int(coord[0])]
draw_pixel_goal = True

# look down --> horizontal
self.env.step(action_code.LOOKUP)
Expand Down Expand Up @@ -818,6 +863,21 @@ def _run_eval_system2(self) -> tuple:

print("step_id", step_id, "action", action)

if vis_writer is not None:
vis = np.asarray(save_raw_image).copy()
vis = cv2.putText(
vis,
f"step {step_id} action {int(action)}",
(20, 40),
cv2.FONT_HERSHEY_SIMPLEX,
1,
(0, 255, 0),
2,
)
if draw_pixel_goal:
cv2.circle(vis, (pixel_goal[0], pixel_goal[1]), radius=8, color=(255, 0, 0), thickness=-1)
vis_writer.append_data(vis)

if action == action_code.LOOKDOWN:
self.env.step(action)
observations, _, done, _ = self.env.step(action)
Expand Down Expand Up @@ -875,6 +935,8 @@ def _run_eval_system2(self) -> tuple:
quality=9,
)
vis_frames.clear()
if vis_writer is not None:
vis_writer.close()

self.env.close()

Expand Down
2 changes: 2 additions & 0 deletions scripts/eval/configs/habitat_dual_system_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,8 @@
"resize_w": 384, # image resize width
"resize_h": 384, # image resize height
"max_new_tokens": 1024, # maximum number of tokens for generation
"vis_debug": True, # If vis_debug=True, save debug videos per episode
"vis_debug_path": "./logs/habitat/vis_debug",
},
),
env=EnvCfg(
Expand Down
2 changes: 2 additions & 0 deletions scripts/eval/configs/habitat_s2_cfg.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,8 @@
"resize_w": 384, # image resize width
"resize_h": 384, # image resize height
"max_new_tokens": 1024, # maximum number of tokens for generation
"vis_debug": False, # If vis_debug=True, save debug videos per episode
"vis_debug_path": "./logs/habitat/vis_debug",
},
),
env=EnvCfg(
Expand Down
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