【机器人】复现 3D-Mem 具身探索和推理 | 3D场景记忆 CVPR 2025

3D-Mem 是用于具体探索和推理的3D场景记忆，来自CVPR 2025.

使用信息丰富的多视角图像，来表示场景并捕捉已探索区域的丰富视觉信息，

整合了基于前沿的探索，使智能体能够通过考虑已知和潜在的新信息，做出明智的决策。

本文分享3D-Mem复现和模型推理的过程～

下面是一个运行示例结果：

看一下占用地图的航向

下面是真实环境下，官方跑的demo，3D-Mem无需训练的设计，可以无缝适应真实的机器人，从而实现在现实世界中的部署

项目地址：https://umass-embodied-agi.github.io/3D-Mem/

 1、创建Conda环境

首先创建一个Conda环境，名字为3dmem，python版本为3.9

进入3dmem环境

conda create -n 3dmem python=3.9 -y
conda activate 3dmem

然后下载代码，进入代码工程：https://github.com/UMass-Embodied-AGI/3D-Mem

git clone https://github.com/UMass-Embodied-AGI/3D-Mem.git
cd 3D-Mem

2、安装habitat模拟器

我需要安装habitat-sim==0.2.5、headless 和 faiss-cpu

conda install -c conda-forge -c aihabitat habitat-sim=0.2.5 headless faiss-cpu=1.7.4 -y

等待安装完成～

3、安装 torch 和 pytorch3d

执行下面命令，进行安装torch：

pip install torch==2.0.1 torchvision==0.15.2 --index-url https://download.pytorch.org/whl/cu118

再安装pytorch3d：

conda install https://anaconda.org/pytorch3d/pytorch3d/0.7.4/download/linux-64/pytorch3d-0.7.4-py39_cu118_pyt201.tar.bz2 -y

4、安装依赖库

执行下面命令进行安装：

pip install omegaconf==2.3.0 open-clip-torch==2.26.1 ultralytics==8.2.31 supervision==0.21.0 opencv-python-headless==4.10.* \scikit-learn==1.4 scikit-image==0.22 open3d==0.18.0 hipart==1.0.4 openai==1.35.3 httpx==0.27.2

等待安装完成～

5、安装clip

执行下面命令进行安装：

pip install git+https://github.com/openai/CLIP.git

打印信息

Looking in indexes: https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
Collecting git+https://github.com/openai/CLIP.gitCloning https://github.com/openai/CLIP.git to /tmp/pip-req-build-imrsh3kfRunning command git clone --filter=blob:none --quiet https://github.com/openai/CLIP.git /tmp/pip-req-build-imrsh3kfResolved https://github.com/openai/CLIP.git to commit dcba3cb2e2827b402d2701e7e1c7d9fed8a20ef1Preparing metadata (setup.py) ... done
.....
Successfully built clip
Installing collected packages: clip
Successfully installed clip-1.0

clip的主要思路流程：

6、修改Hugging Face 镜像源

代码会自动从Hugging Face下载模型权重，需要先配置为国内的镜像源

 编辑用户配置文件 ~/.bashrc，设置为 export HF_ENDPOINT=https://hf-mirror.com

执行下面命令：

echo 'export HF_ENDPOINT=https://hf-mirror.com' >> ~/.bashrc
source ~/.bashrc  # 立即生效

验证环境变量​​，是否修改成功：

echo $HF_ENDPOINT

正常会输出：https://hf-mirror.com，说明设置成功啦～

7、准备HM3D数据集

我们需要下载 hm3d_v0.2

下载地址：GitHub - matterport/habitat-matterport-3dresearch

选择的下载文件：hm3d-val-habitat-v0.2.tar

然后放到data目录下：

8、准备gpt-4o的Api

推荐使用国内的供应商，比较稳定：https://ai.nengyongai.cn/register?aff=RQt3

首先“添加令牌”，设置额度（比如5块钱），点击查看就能看到Key啦

 然后填写到 src/const.py中

# about habitat scene
INVALID_SCENE_ID = []# about chatgpt api
END_POINT = "https://ai.nengyongai.cn/v1"
OPENAI_KEY = "xxxxxxxxxxxxxxxxxxxxx"

点击模型列表，能查看支持的模型：

看一下使用情况：

 

9、运行模型推理

查看配置文件 cfg/eval_aeqa.yaml

# 通用设置
seed: 77  # 随机种子
exp_name: "exp_eval_aeqa"  # 实验名称
output_parent_dir: "results"  # 输出文件夹的父目录
scene_dataset_config_path: "data/hm3d_annotated_basis.scene_dataset_config.json"  # 场景数据集配置文件路径
scene_data_path: "data/hm3d_v0.2/"  # 场景数据路径
questions_list_path: 'data/aeqa_questions-41.json'  # 问题列表文件路径concept_graph_config_path: "cfg/concept_graph_default.yaml"  # 概念图配置文件路径# 主要设置
choose_every_step: true  # 是否在每一步都查询视觉语言模型（VLM），还是仅在到达导航目标后查询
egocentric_views: true  # 是否在提示视觉语言模型时添加自我中心视角
prefiltering: true  # 是否使用预筛选（实际上不能关闭，否则会超出上下文长度限制）
top_k_categories: 10  # 在预筛选过程中保留与目标最相关的前 k 个类别# 关于检测模型
yolo_model_name: yolov8x-world.pt  # YOLO 模型名称
sam_model_name: sam_l.pt  # SAM 模型名称
class_set: scannet200  # 使用 200 类别的数据集用于 YOLO-world 检测器# 关于快照聚类
min_detection: 1  # 最小检测数量# 相机和图像设置
camera_height: 1.5  # 相机高度（单位：米）
camera_tilt_deg: -30  # 相机倾斜角度（单位：度）
img_width: 1280  # 图像宽度（单位：像素）
img_height: 1280  # 图像高度（单位：像素）
hfov: 120  # 水平视场角（单位：度）# 是否保存可视化结果（这会比较慢）
save_visualization: true# 用于提示 GPT-4O 的图像大小
prompt_h: 360  # 提示图像高度（单位：像素）
prompt_w: 360  # 提示图像宽度（单位：像素）# 导航设置
num_step: 50  # 最大导航步数
init_clearance: 0.3  # 初始避碰距离（单位：米）
extra_view_phase_1: 2  # 第一阶段额外视角的数量
extra_view_angle_deg_phase_1: 60  # 第一阶段每个额外视角之间的角度（单位：度）
extra_view_phase_2: 6  # 第二阶段额外视角的数量
extra_view_angle_deg_phase_2: 40  # 第二阶段每个额外视角之间的角度（单位：度）# 关于 TSDF、深度图和边界更新
explored_depth: 1.7  # 已探索深度（单位：米）
tsdf_grid_size: 0.1  # TSDF 网格大小（单位：米）
margin_w_ratio: 0.25  # 宽度方向的边界比例
margin_h_ratio: 0.6  # 高度方向的边界比例
planner:  # 规划器设置eps: 1  # 规划器的精度max_dist_from_cur_phase_1: 1  # 第一阶段未找到目标时，探索边界的步长（单位：米）max_dist_from_cur_phase_2: 1  # 第二阶段找到目标后，接近目标的步长（单位：米）final_observe_distance: 0.75  # 第二阶段找到一个距离目标对象此距离的地方进行观察（单位：米）surrounding_explored_radius: 0.7  # 周围已探索区域的半径（单位：米）# 关于边界选择frontier_edge_area_min: 4  # 边界边缘最小面积frontier_edge_area_max: 6  # 边界边缘最大面积frontier_area_min: 8  # 边界最小面积frontier_area_max: 9  # 边界最大面积min_frontier_area: 20  # 边界至少需要的像素数量max_frontier_angle_range_deg: 150  # 边界中像素所张角度的最大值（单位：度）region_equal_threshold: 0.95  # 区域相等的阈值# 关于场景图构建
scene_graph:confidence: 0.003  # 置信度阈值nms_threshold: 0.1  # 非极大值抑制阈值iou_threshold: 0.5  # 交并比阈值obj_include_dist: 3.5  # 包含目标对象的距离（单位：米）target_obj_iou_threshold: 0.6  # 目标对象的交并比阈值

运行下面代码，生成 A-EQA 数据集的预测结果：

python run_aeqa_evaluation.py -cf cfg/eval_aeqa.yaml

运行程序后，会联网下载一些模型权重，

包括：yolov8x-world.pt、sam_l.pt、open_clip_pytorch_model.bin、ViT-B-32.pt等

下面是运行信息：

00:00:00 - ***** Running exp_eval_aeqa *****
00:00:00 - Total number of questions: 41
00:00:00 - number of questions after splitting: 41
00:00:00 - question path: data/aeqa_questions-41.json
Downloading https://github.com/ultralytics/assets/releases/download/v8.2.0/yolov8x-world.pt to 'yolov8x-world.pt'...
100%|█████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 141M/141M [04:04<00:00, 605kB/s]
00:04:09 - Load YOLO model yolov8x-world.pt successful!
Downloading https://github.com/ultralytics/assets/releases/download/v8.2.0/sam_l.pt to 'sam_l.pt'...
100%|██████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 1.16G/1.16G [11:56<00:00, 1.74MB/s]
00:16:12 - Load SAM model sam_l.pt successful!
00:16:12 - Loaded ViT-B-32 model config.
open_clip_pytorch_model.bin:  70%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████▎                                                  | 440M/626M [03:17<01:11, 2.58MB/s]....

当下载和加载成功后，会显示：

00:00:00 - ***** Running exp_eval_aeqa *****
00:00:00 - Total number of questions: 41
00:00:00 - number of questions after splitting: 41
00:00:00 - question path: data/aeqa_questions-41.json
00:00:00 - Load YOLO model yolov8x-world.pt successful!
00:00:02 - Load SAM model sam_l.pt successful!
00:00:02 - Loaded ViT-B-32 model config.
00:00:04 - Loading pretrained ViT-B-32 weights (laion2b_s34b_b79k).
00:00:05 - Load CLIP model successful!
00:00:05 - Question 00c2be2a-1377-4fae-a889-30936b7890c3 already processed
00:00:05 - Question 013bb857-f47d-4b50-add4-023cc4ff414c already processed
00:00:05 - 
========
Index: 2 Scene: 00848-ziup5kvtCCR
00:00:05 - semantic_texture_path: data/hm3d_v0.2/val/00848-ziup5kvtCCR/ziup5kvtCCR.semantic.glb or scene_semantic_annotation_path: data/hm3d_v0.2/val/00848-ziup5kvtCCR/ziup5kvtCCR.semantic.txt does not exist
00:00:06 - Loaded 192 classes from scannet 200: data/scannet200_classes.txt!!!
00:00:06 - Load scene 00848-ziup5kvtCCR successfully without semantic texture
00:00:10 - Question id 01fcc568-f51e-4e12-b976-5dc8d554135a initialization successful!
00:00:10 - 
== step: 0
00:00:11 - Done! Execution time of detections_to_obj_pcd_and_bbox function: 0.12 seconds
00:00:13 - Done! Execution time of detections_to_obj_pcd_and_bbox function: 0.09 seconds
00:00:15 - Done! Execution time of detections_to_obj_pcd_and_bbox function: 0.08 seconds
00:00:16 - Done! Execution time of detections_to_obj_pcd_and_bbox function: 0.05 seconds
00:00:17 - Done! Execution time of detections_to_obj_pcd_and_bbox function: 0.04 seconds
00:00:18 - Done! Execution time of detections_to_obj_pcd_and_bbox function: 0.05 seconds
00:00:19 - Done! Execution time of detections_to_obj_pcd_and_bbox function: 0.07 seconds
00:00:20 - Step 0, update snapshots, 25 objects, 6 snapshots
00:00:23 - HTTP Request: POST https://ai.nengyongai.cn/v1/chat/completions "HTTP/1.1 200 OK"
00:00:23 - Prefiltering selected classes: ['sofa chair', 'couch', 'pillow', 'coffee table', 'cabinet']
00:00:23 - Prefiltering snapshot: 6 -> 3
00:00:23 - Input prompt:
00:00:23 - Task: You are an agent in an indoor scene tasked with answering questions by observing the surroundings and exploring the environment. To answer the question, you are required to choose either a Snapshot as the answer or a Frontier to further explore.
Definitions:
Snapshot: A focused observation of several objects. Choosing a Snapshot means that this snapshot image contains enough information for you to answer the question. If you choose a Snapshot, you need to directly give an answer to the question. If you don't have enough information to give an answer, then don't choose a Snapshot.
Frontier: An observation of an unexplored region that could potentially lead to new information for answering the question. Selecting a frontier means that you will further explore that direction. If you choose a Frontier, you need to explain why you would like to choose that direction to explore.
Question: Where is the teddy bear?
Select the Frontier/Snapshot that would help find the answer of the question.
The following is the egocentric view of the agent in forward direction: [iVBORw0KGg...]
The followings are all the snapshots that you can choose (followed with contained object classes)
Please note that the contained classes may not be accurate (wrong classes/missing classes) due to the limitation of the object detection model. So you still need to utilize the images to make decisions.
Snapshot 0 [iVBORw0KGg...]coffee table, couch, pillow
Snapshot 1 [iVBORw0KGg...]coffee table, pillow, sofa chair
Snapshot 2 [iVBORw0KGg...]cabinet, couch
The followings are all the Frontiers that you can explore: 
Frontier 0 [iVBORw0KGg...]
Frontier 1 [iVBORw0KGg...]
Please provide your answer in the following format: 'Snapshot i
[Answer]' or 'Frontier i
[Reason]', where i is the index of the snapshot or frontier you choose. For example, if you choose the first snapshot, you can return 'Snapshot 0
The fruit bowl is on the kitchen counter.'. If you choose the second frontier, you can return 'Frontier 1
I see a door that may lead to the living room.'.
Note that if you choose a snapshot to answer the question, (1) you should give a direct answer that can be understood by others. Don't mention words like 'snapshot', 'on the left of the image', etc; (2) you can also utilize other snapshots, frontiers and egocentric views to gather more information, but you should always choose one most relevant snapshot to answer the question.00:00:32 - HTTP Request: POST https://ai.nengyongai.cn/v1/chat/completions "HTTP/1.1 200 OK"
00:00:32 - Response: [frontier 0]
Reason: [I would like to explore the hallway further as it may lead to other rooms where the teddy bear might be located.]
00:00:32 - Prediction: frontier, 0
00:00:32 - Next choice: Frontier at [79 33]
UserWarning: *c* argument looks like a single numeric RGB or RGBA sequence, which should be avoided as value-mapping will have precedence in case its length matches with *x* & *y*.  Please use the *color* keyword-argument or provide a 2D array with a single row if you intend to specify the same RGB or RGBA value for all points.
00:00:33 - Current position: [    0.11692    0.021223      6.1057], 1.005
00:00:34 - 
== step: 1

可视化的结果保存在：results/exp_eval_aeqa 中

看一下占用地图，规划航向（1）

规划航向（2）

规划航向（3）

模型推理示例2

对应的配置文件是：cfg/eval_goatbench.yaml

运行代码，生成 GOAT-Bench 数据集的预测结果：

python run_goatbench_evaluation.py -cf cfg/eval_goatbench.yaml

GOAT-Bench 为每个场景提供了 10 个探索情节，并且由于时间和资源的限制，默认只测试第一情节。 

我们还可以通过设置来指定要评估每个场景的情节 --split。

分享完成～

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