Welcome to the implementation of Vision-and-Language Navigation under Continuous Environment (VLN-CE) models on the AI2THOR dataset. This project aims to push the boundaries of embodied AI by integrating the latest advancements and novelties in the field, leveraging state-of-the-art object detection, and developing robust navigation strategies.

Vision-and-Language Navigation (VLN) tasks challenge agents to interpret natural language instructions and navigate complex, photorealistic environments. This repository focuses on:

• Implementing VLN-CE models in the AI2THOR simulation environment based on manually interactive collection via keyboard and navigating through the environment to collect data or automatically generated data.
• Integrating real-time object detection and scene understanding using YOLOv5s.
• Exploring and optimizing advanced navigation strategies.

• Real-time Object Detection: Utilizes pretrained models (e.g., YOLOv5s) for fast and accurate object recognition.
• Custom Navigation Strategies: Implements and compares Greedy Lookahead, Lin-Kernighan, Dynamic Programming, and A* algorithms, all informed by detected objects.
• Action Sequence Optimization: Seeks to minimize the number of actions required to reach the destination.
• Modular Dataset Handling: Supports custom dataset generation and fine-tuning.
• Extensible Framework: Designed for easy integration of new models, strategies, and research ideas.

Sample output: Real-time object detection and labeling in AI2THOR scenes using YOLOv5s.

• AI2THOR: Interactive 3D environment for embodied AI research.
• YOLOv5s: Real-time object detection.
• PyTorch: Deep learning framework.
• OpenCV: Image processing and computer vision.
• Pynput: Keyboard control for manual navigation.
• Tkinter: GUI for object selection.
• [NumPy, Pandas, Matplotlib, Seaborn]: Data handling and visualization.

• Greedy Lookahead: Selects the next action based on immediate reward and detected objects.
• Lin-Kernighan Heuristic: Applies advanced local search for path optimization.
• Dynamic Programming: Finds optimal action sequences by breaking down navigation into subproblems.
• A*: Utilizes heuristic search to efficiently reach the goal.
• Customizable: Easily add or modify navigation algorithms.

• AI2THOR Scenes: Rich, interactive environments for training and evaluation.
• Custom Dataset Generation: Scripts for collecting RGB, depth, segmentation, and metadata.
• YOLOv5 Labeling: Automated label generation for object detection fine-tuning.

1. Clone the Repository

   git clone https://github.com/yourusername/VLN-CE_pro.git
   cd VLN-CE_pro

2. Set Up the Environment

   python3 -m venv venv
   source venv/bin/activate
   pip install -r requirements.txt

3. Download Pretrained Weights
   • Place YOLOv5s weights in the appropriate directory (see yolov5/).
4. Run Manual Navigation & Data Collection

   python yolov5/src/scripts/manual_navigator.py

5. Fine-tune YOLOv5s on Custom Data

   python yolov5/src/fine-tune_yolov5s.py

6. Run Detection or Navigation Experiments
   • See scripts in yolov5/src/ for detection and navigation.

VLN-CE_pro/
├── yolov5/
│   ├── src/
│   │   ├── scripts/
│   │   │   └── manual_navigator.py
│   │   ├── custom_detect.py
│   │   └── fine-tune_yolov5s.py
│   ├── runs/
│   ├── models/
│   └── ...
├── notes/
├── requirements.txt
└── README.md

• Transformer-based VLN Models: Integrate recent advances like VLN-BERT, EnvDrop, and HAMT.
• Vision-Language Pretraining: Leverage large-scale pretrained models (e.g., CLIP, BLIP) for improved grounding.
• Curriculum Learning: Gradually increase task difficulty for more robust agents.
• Uncertainty Estimation: Incorporate Bayesian methods for safer navigation.
• Multi-modal Fusion: Combine audio, depth, and semantic maps for richer perception.
• Reinforcement Learning Enhancements: Explore curiosity-driven exploration and hierarchical RL.
• Sim2Real Transfer: Bridge the gap between simulation and real-world deployment.
• Mind the Error!: Detection and Localization of Instruction Errors in Vision-and-Language Navigation. Ref

• AI2THOR team for the simulation environment.
• Ultralytics YOLOv5 for object detection.
• Open-source contributors and the embodied AI research community.

Contact: For questions or collaborations, please open an issue or reach out via Telegram.