habitat_roxbox_nav
---------------------

This folder contains videos of image based navigation trials inside the Roxbox apartment from the Habitat 
simulation environment. This apartment was used for training the perceptual representations.


# Explanations for the videos:

- The leftmost image on the videos show the current-state seen by the agent. 
The image has an FOV of 150 degrees, and a resolution of 256 x 256.

- The middle static image on the videos show the goal-state the agent is trying to reach. 
The image has an FOV of 150 degrees, and a resolution of 256 x 256.

- The layout on the right of the videos provides a top-down visualization of the navigation trial.
We emphasize that the agent only receives current and goal images as input, and the top-down layout 
is solely for visualization purposes.


# Additional explanations for the top-down layout visualizations in the videos roxbox_nav_detailed_vis_1.mp4
and roxbox_nav_detailed_vis_2.mp4:

- The white dot marks the position of the goal-state.

- A navigation trial ends if the agent reaches within 2-step proximity of the goal position.

- The moving dark blue dot marks the current position of the agent, and the trailing yellow dots mark the 
past positions visited by the agent.

- The light blue trajectories that blip in and out of view visualize the restitched trajectories resulting
from retrospective planning. As the agent replans at each timestep in a model predictive control loop,
there is a different restitched trajectory in each frame.


# Additional explanations for the top-down layout visualizations in the remaining videos:

- These videos are directly taken from the monte-carlo evaluations that produced Fig.8 of the supplementary 
pdf. During these monte-carlo evaluations, visualizations weren't logged with as much detail as the previous 
two videos, but we still include them for completeness.

- The pale green dots visualize the navigation trajectory.

- A navigation trial ends if the agent reaches within 2-step proximity of the goal position.
