Psiturk Habitat Sim

This repository is the implmentation of data collection application for project Learning Embodied Visual Exploration from Humans.

Psiturk Habitat Sim is a web-based application to collect human demonstrations for embodied tasks at scale by connecting Habitat simulator to Amazon Mechanical Turk users. Here's the deck of slides explaining the system design of the application.

Setup

This project is developed with Python 3.6. If you are using miniconda or anaconda, you can create an environment:

conda create -n venv python3.6
conda activate venv
conda install --file requirements.txt

Data

Like Habitat-Lab, we expect a data folder (or symlink) with a particular structure in the top-level directory of this project.

Pick and Place task

In the pick-and-place task, an agent must execute an instruction of the form Place the <object> on the <receptacle>. The agent must explore and navigate to the object, pick it up, explore and navigate to the receptacle, and place the object on it. The assets needed to run data collection for Pick and Place task can be downloaded here. Extract the contents of data.zip to psiturk-habitat-sim/data.

Nginx

1. Update the paths in nginx.conf to your psiturk-habitat-sim copy (lines 18, 24, and 30).
2. Copy/move the nginx.conf file to /etc/nginx/sites-available/some-unique-config-name
3. Run

   ln -s /etc/nginx/sites-available/name-of-your-config /etc/nginx/sites-enabled/
   service nginx reload
   

   to enable the new nginx server conf

Usage

1. Configure psiturk server port in config.txt (default: 8080), point to the same port in nginx.conf
2. To start the psiturk server run:

   cd /path/to/psiturk-habitat-sim
   psiturk -e "server on"
   

3. Open http://localhost:8000/ or http://localhost:YOUR_ENDPOINT_PORT/ in your browser to access psiturk interface. Note that you must use localhost instead of 127.0.0.1 as the compiled habitat-sim application will attempt to load scene data from S3 otherwise.

Experiment config can be modified by making changes to config.txt. You can find the documentation of psiturk configuration files here.

Data Collection and Monitoring

Launching HITs

1. To launch and manage HITs refer to psiturk documentation.

Monitoring HITs

1. To collected data for successful HITs refer to psiturk documentation.

2. Collected data can also be downloaded using the sample script from scripts/data/download_hit_data.py. Run the following command to download collected data:

   python scripts/data/download_hit_data.py --db_path <db_name> --dump_path /path/to/dump/data/ --mode <psiturk_server_mode>
   

   --mode - Psiturk server mode. Refer the documentation