Certain Errors - Matrix is not Orthognal

[yash-goel]

Hi, thank you for providing the nice implementation of your approach.

I ran the test_agent.py for testing the Q agent with ACNet semantic segmentation. There are however certain issues which I am facing:

1. test_agent.py throws error in line 242 when drawing circle because agent.action is a tuple of Tensor. I believe this is related to the action_picker function in SCNav_agent where greedy action gives a tuple of Tensor but the random action returns a tuple of int.
2. I temporarily circumvent the above error by converting to int before passing to draw the circle. Though for the val.json - I get an error Math::Quaternion::fromMatrix(): the matrix is not orthogonal: after the 13/500 step in the first episode(zsNo4HB9uLZ). Do you have any leads for what might be wrong?

Thank you for your help.

[lynl7130]

Hi,
Thank you for your interest in SSCNav!

For 1, I think your solution is fine.
For 2, I believe this is an internal problem introduced by Habitat-Lab. I ran my code on an old version of habitat and I believe the version mismatch is causing problems. Not sure whether we can solve this here but at least give it a try:

• May I know how did you install the habitat and which mp3d scene files/dataset files did you load?
• Could you run the Habitat demo smoothly?
• Could you show exactly which line of the code yielded this error?

Thanks!

[yash-goel]

Hi, thank you for your reply. Sorry for my late response.

• I installed habitat using conda. It is the latest stable version 0.2.0. Probably like you mentioned using an older version should work: I will try that. But I used this version because there was no mention of specific requirement of habitat version. I used it on the val set and the scene is zsNo4HB9uLZ.glb.
• Yes, I was able to run the demo smoothly.
• There was no mention of any line in the error. Upon looking further, I saw this error is thrown by the magnum backend from habitat. Somehow this led me to believe that the rotate function of the SCNav_agent is causing the problem. So, as a check I don't rotate the agent by the given angle and keep it as is. It expectedly doesn't make the agent move much because it is stuck in a corner initially - but the episode(500 steps) does go to end this time. Though the same error pops up again after the end of the episode. I am not sure if this can be of any help.

Anyways, like you mentioned, I will run on the older version and maybe it should be fine then.

Thanks for the help!

[lukasmajer]

Hi, I have encountered both of these problems. The solution for the first one by @yash-goel worked for me. Have made any progress with issue number two?

Lukas