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facebookresearch / habitat-lab

A modular high-level library to train embodied AI agents across a variety of tasks and environments.
https://aihabitat.org/
MIT License
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PathFinder: Can't project end-point to navmesh, skipping: Vector(0, 0, 0) & Early abort, can't project any points to navmesh #1397

Open pioneer-innovation opened 1 year ago

pioneer-innovation commented 1 year ago

Habitat-Lab and Habitat-Sim versions

Habitat-Lab: v0.2.4

Habitat-Sim: v0.2.4

Habitat is under active development, and we advise users to restrict themselves to stable releases. Are you using the latest release versions of Habitat-Lab and Habitat-Sim? Your question may already be addressed in the latest versions. We may also not be able to help with problems in earlier versions because they sometimes lack the more verbose logging needed for debugging.

Master branch contains 'bleeding edge' code and should be used at your own risk.

Docs and Tutorials

Did you read the docs? https://aihabitat.org/docs/habitat-lab/ yes Did you check out the tutorials? https://aihabitat.org/tutorial/2020/ yes Perhaps your question is answered there. If not, carry on!

❓ Questions and Help

Hi, when I use habitat-lab to train on the mp3d dataset, it continually report the following info:

[11:25:13:513281]:[Nav] PathFinder.cpp(1365)::findPathSetup : Can't project end-point to navmesh, skipping:  Vector(0, 0, 0)
[11:25:13:513354]:[Nav] PathFinder.cpp(1375)::findPathSetup : Early abort, can't project any points to navmesh.
[11:25:13:590906]:[Nav] PathFinder.cpp(1365)::findPathSetup : Can't project end-point to navmesh, skipping:  Vector(0, 0, 0)
[11:25:13:590976]:[Nav] PathFinder.cpp(1375)::findPathSetup : Early abort, can't project any points to navmesh.
[11:25:13:683487]:[Nav] PathFinder.cpp(1365)::findPathSetup : Can't project end-point to navmesh, skipping:  Vector(0, 0, 0)
[11:25:13:683559]:[Nav] PathFinder.cpp(1375)::findPathSetup : Early abort, can't project any points to navmesh.
[11:25:13:797314]:[Nav] PathFinder.cpp(1365)::findPathSetup : Can't project end-point to navmesh, skipping:  Vector(0, 0, 0)
[11:25:13:797383]:[Nav] PathFinder.cpp(1375)::findPathSetup : Early abort, can't project any points to navmesh.
[11:25:14:051908]:[Nav] PathFinder.cpp(1365)::findPathSetup : Can't project end-point to navmesh, skipping:  Vector(0, 0, 0)
[11:25:14:051980]:[Nav] PathFinder.cpp(1375)::findPathSetup : Early abort, can't project any points to navmesh.
[11:25:14:380497]:[Nav] PathFinder.cpp(1365)::findPathSetup : Can't project end-point to navmesh, skipping:  Vector(0, 0, 0)

Can anyone tell me why this information is being reported? What results this situation will lead to?

aclegg3 commented 1 year ago

Hey @pioneer-innovation looks like there are calls to the PathFinder with MultiGoalShortestPath which contain point(s) that are not on the NavMesh. For example (0,0,0) the origin may not be a navigable point for some scenes. Not sure where this is being called from, but unless it is causing training issues it is likely not a problem. It could be culling path end points or goals that are infeasible.