README.md

Handcrafted agent baseline adopted from the paper "Benchmarking Classic and Learned Navigation in Complex 3D Environments"

Project website: https://sites.google.com/view/classic-vs-learned-navigation Paper: https://arxiv.org/abs/1901.10915

If you use this code or the provided environments in your research, please cite the following:

@ARTICLE{Navigation2019,
       author = {{Mishkin}, Dmytro and {Dosovitskiy}, Alexey and {Koltun}, Vladlen},
        title = "{Benchmarking Classic and Learned Navigation in Complex 3D Environments}",
         year = 2019,
        month = Jan,
archivePrefix = {arXiv},
       eprint = {1901.10915},
}

Dependencies:

• conda
• numpy
• pytorch
• ORBSLAM2

Tested with:

• Ubuntu 16.04

• python 3.7

• pytorch 0.4, 1.0

• Install Anaconda https://www.anaconda.com/download/#linux

• Install dependencies via ./install_deps.sh. It should install everything except the datasets.

Simple example of working with agents is shown in (../handcrafted-agent-example.ipynb)