You can set breakpoint() in the code if you set --debug_env and --num_processes=1.
If you want to visualize how the model is performing, you should first run the evaluation with --save_pictures flag. This will output frame-by-frame information in pictures directory.
If you want to combine the information and view it as a video, use the visualize/viz.py script. Refer to README for details.
You can move around in the environment using key inputs by setting --manual_control flag. You should also set --save_pictures to monitor how the scene is changing.
Refer to manualControl() in sem_exp_thor.py for details, and here for running main.py in manual control mode.
| Key input | Action |
|---|---|
| a | RotateLeft_90 |
| w | MoveAhead_25 |
| d | RotateRight_90 |
| u | LookUp_15 |
| n | LookDown_15 |
| {Interaction},{X},{Y} | Perform {Interaction} at (X, Y) coordinate in the egocentric view. Example: OpenObject,320,20 |
| thresh,{float} | Change the threshold of the instance segmentation to {float}. Example: thresh,0.2 |