TEACh

Task-driven Embodied Agents that Chat

Aishwarya Padmakumar*, Jesse Thomason*, Ayush Shrivastava, Patrick Lange, Anjali Narayan-Chen, Spandana Gella, Robinson Piramuthu, Gokhan Tur, Dilek Hakkani-Tur

TEACh is a dataset of human-human interactive dialogues to complete tasks in a simulated household environment. The code is licensed under the MIT License (see SOFTWARELICENSE), images are licensed under Apache 2.0 (see IMAGESLICENSE) and other data files are licensed under CDLA-Sharing 1.0 (see DATALICENSE). Please include appropriate licensing and attribution when using our data and code, and please cite our paper.

Prerequisites

• python3 >=3.7,<=3.8
• python3.x-dev, example: sudo apt install python3.8-dev
• tmux, example: sudo apt install tmux
• xorg, example: sudo apt install xorg openbox
• ffmpeg, example: sudo apt install ffmpeg

Installation

pip install -r requirements.txt
pip install -e .

Downloading the dataset

Run the following script:

teach_download 

This will download and extract the archive files (experiment_games.tar.gz, all_games.tar.gz, images_and_states.tar.gz, edh_instances.tar.gz & tfd_instances.tar.gz) in the default directory (/tmp/teach-dataset).
Optional arguments:

• -d/directory: The location to store the dataset into. Default=/tmp/teach-dataset.
• -se/--skip-extract: If set, skip extracting archive files.
• -sd/--skip-download: If set, skip downloading archive files.
• -f/--file: Specify the file name to be retrieved from S3 bucket.

Remote Server Setup

If running on a remote server without a display, the following setup will be needed to run episode replay, model inference of any model training that invokes the simulator (student forcing / RL).

Start an X-server

tmux
sudo python ./bin/startx.py

Exit the tmux session (CTRL+B, D). Any other commands should be run in the main terminal / different sessions.

Replaying episodes

Most users should not need to do this since we provide this output in images_and_states.tar.gz.

The following steps can be used to read a .json file of a gameplay session, play it in the AI2-THOR simulator, and at each time step save egocentric observations of the Commander and Driver (Follower in the paper). It also saves the target object panel and mask seen by the Commander, and the difference between current and initial state.

Replaying a single episode locally, or in a new tmux session / main terminal of remote headless server:

teach_replay \
--game_fn /path/to/game/file \
--write_frames_dir /path/to/desired/output/images/dir \
--write_frames \
--write_states \
--status-out-fn /path/to/desired/output/status/file.json

Note that --status-out-fn must end in .json Also note that the script will by default not replay sessions for which an output subdirectory already exists under --write-frames-dir Additionally, if the file passed to --status-out-fn already exists, the script will try to resume files not marked as replayed in that file. It will error out if there is a mismatch between the status file and output directories on which sessions have been previously played. It is recommended to use a new --write-frames-dir and new --status-out-fn for additional runs that are not intended to resume from a previous one.

Replay all episodes in a folder locally, or in a new tmux session / main terminal of remote headless server:

teach_replay \
--game_dir /path/to/dir/containing/.game.json/files \
--write_frames_dir /path/to/desired/output/images/dir \
--write_frames \
--write_states \
--num_processes 50 \
--status-out-fn /path/to/desired/output/status/file.json

To generate a video, additionally specify --create_video. Note that for images to be saved, --write_images must be specified and --write-frames-dir must be provided. For state changes to be saved, --write_states must be specified and --write_frames_dir must be provided.

Evaluation

We include sample scripts for inference and calculation of metrics. teach_inference and teach_eval. teach_inference is a wrapper that implements loading EDH instance, interacting with the simulator as well as writing the game file and predicted action sequence as JSON files after each inference run. It dynamically loads the model based on the --model_module and --model_class arguments. Your model has to implement teach.inference.teach_model.TeachModel. See teach.inference.sample_model.SampleModel for an example implementation which takes random actions at every time step.

After running teach_inference, you use teach_eval to compute the metrics based output data produced by teach_inference.

Sample run:

export DATA_DIR=/path/to/data/with/games/and/edh_instances/as/subdirs (Default in Downloading is /tmp/teach-dataset)
export OUTPUT_DIR=/path/to/output/folder/for/split
export METRICS_FILE=/path/to/output/metrics/file_without_extension

teach_inference \
    --data_dir $DATA_DIR \
    --output_dir $OUTPUT_DIR \
    --split valid_seen \
    --metrics_file $METRICS_FILE \
    --model_module teach.inference.sample_model \
    --model_class SampleModel

teach_eval \
    --data_dir $DATA_DIR \
    --inference_output_dir $OUTPUT_DIR \
    --split valid_seen \
    --metrics_file $METRICS_FILE

Security

See CONTRIBUTING for more information.

License

The code is licensed under the MIT License (see SOFTWARELICENSE), images are licensed under Apache 2.0 (see IMAGESLICENSE) and other data files are licensed under CDLA-Sharing 1.0 (see DATALICENSE).