
SG-Nav
[NeurIPS 2024] SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation
Stars: 89

SG-Nav is an online 3D scene graph prompting tool designed for LLM-based zero-shot object navigation. It proposes a framework that constructs an online 3D scene graph to prompt LLMs, allowing direct application to various scenes and categories without the need for training.
README:
Paper | Project Page | Video
SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation
Hang Yin*, Xiuwei Xu* $^\dagger$, Zhenyu Wu, Jie Zhou, Jiwen Lu$^\ddagger$
* Equal contribution $\dagger$ Project leader $\ddagger$ Corresponding author
We propose a zero-shot object-goal navigation framework by constructing an online 3D scene graph to prompt LLMs. Our method can be directly applied to different kinds of scenes and categories without training. 中文解读.
- [2024/12/30]: We update the code and simplify the installation.
- [2024/09/26]: SG-Nav is accepted to NeurIPS 2024!
Demos are a little bit large; please wait a moment to load them. Welcome to the home page for more complete demos and detailed introductions.
Step 1 (Dataset)
Download Matterport3D scene dataset and object-goal navigation episodes dataset from here.
Set your scene dataset path SCENES_DIR
and episode dataset path DATA_PATH
in config file configs/challenge_objectnav2021.local.rgbd.yaml
.
The structure of the dataset is outlined as follows:
MatterPort3D/
├── mp3d/
│ ├── 2azQ1b91cZZ/
│ │ └── 2azQ1b91cZZ.glb
│ ├── 8194nk5LbLH/
│ │ └── 8194nk5LbLH.glb
│ └── ...
└── objectnav/
└── mp3d/
└── v1/
└── val/
├── content/
│ ├── 2azQ1b91cZZ.json.gz
│ ├── 8194nk5LbLH.json.gz
│ └── ...
└── val.json.gz
Step 2 (Environment)
Create conda environment with python==3.9.
conda create -n SG_Nav python==3.9
Step 3 (Simulator)
Install habitat-sim==0.2.4 and habitat-lab.
conda install habitat-sim==0.2.4 -c conda-forge -c aihabitat
pip install -e habitat-lab
Then replace the agent/agent.py
in the installed habitat-sim package with tools/agent.py
in our repository.
HABITAT_SIM_PATH=$(pip show habitat_sim | grep 'Location:' | awk '{print $2}')
cp tools/agent.py ${HABITAT_SIM_PATH}/habitat_sim/agent/
Step 4 (Package)
Install pytorch<=1.9, pytorch3d and faiss. Install other packages.
conda install -c pytorch faiss-gpu=1.8.0
pip install torch==1.9.1+cu111 torchvision==0.10.1+cu111 -f https://download.pytorch.org/whl/torch_stable.html
pip install -r requirements.txt
pip install "git+https://github.com/facebookresearch/pytorch3d.git"
Install Grounded SAM.
pip install -e segment_anything
pip install --no-build-isolation -e GroundingDINO
wget -O segment_anything/sam_vit_h_4b8939.pth https://dl.fbaipublicfiles.com/segment_anything/sam_vit_h_4b8939.pth
wget -O GroundingDINO/groundingdino_swint_ogc.pth https://github.com/IDEA-Research/GroundingDINO/releases/download/v0.1.0-alpha/groundingdino_swint_ogc.pth
Install GLIP model and download GLIP checkpoint.
cd GLIP
python setup.py build develop --user
mkdir MODEL
cd MODEL
wget https://huggingface.co/GLIPModel/GLIP/resolve/main/glip_large_model.pth
cd ../../
Install Ollama.
curl -fsSL https://ollama.com/install.sh | sh
Run SG-Nav:
python SG_Nav.py --visualize
@article{yin2024sgnav,
title={SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation},
author={Hang Yin and Xiuwei Xu and Zhenyu Wu and Jie Zhou and Jiwen Lu},
journal={arXiv preprint arXiv:2410.08189},
year={2024}
}
For Tasks:
Click tags to check more tools for each tasksFor Jobs:
Alternative AI tools for SG-Nav
Similar Open Source Tools

SG-Nav
SG-Nav is an online 3D scene graph prompting tool designed for LLM-based zero-shot object navigation. It proposes a framework that constructs an online 3D scene graph to prompt LLMs, allowing direct application to various scenes and categories without the need for training.

LongLLaVA
LongLLaVA is a tool for scaling multi-modal LLMs to 1000 images efficiently via hybrid architecture. It includes stages for single-image alignment, instruction-tuning, and multi-image instruction-tuning, with evaluation through a command line interface and model inference. The tool aims to achieve GPT-4V level capabilities and beyond, providing reproducibility of results and benchmarks for efficiency and performance.

orra
Orra is a tool for building production-ready multi-agent applications that handle complex real-world interactions. It coordinates tasks across existing stack, agents, and tools run as services using intelligent reasoning. With features like smart pre-evaluated execution plans, domain grounding, durable execution, and automatic service health monitoring, Orra enables users to go fast with tools as services and revert state to handle failures. It provides real-time status tracking and webhook result delivery, making it ideal for developers looking to move beyond simple crews and agents.

MHA2MLA
This repository contains the code for the paper 'Towards Economical Inference: Enabling DeepSeek's Multi-Head Latent Attention in Any Transformer-based LLMs'. It provides tools for fine-tuning and evaluating Llama models, converting models between different frameworks, processing datasets, and performing specific model training tasks like Partial-RoPE Fine-Tuning and Multiple-Head Latent Attention Fine-Tuning. The repository also includes commands for model evaluation using Lighteval and LongBench, along with necessary environment setup instructions.

Shellsage
Shell Sage is an intelligent terminal companion and AI-powered terminal assistant that enhances the terminal experience with features like local and cloud AI support, context-aware error diagnosis, natural language to command translation, and safe command execution workflows. It offers interactive workflows, supports various API providers, and allows for custom model selection. Users can configure the tool for local or API mode, select specific models, and switch between modes easily. Currently in alpha development, Shell Sage has known limitations like limited Windows support and occasional false positives in error detection. The roadmap includes improvements like better context awareness, Windows PowerShell integration, Tmux integration, and CI/CD error pattern database.

evalchemy
Evalchemy is a unified and easy-to-use toolkit for evaluating language models, focusing on post-trained models. It integrates multiple existing benchmarks such as RepoBench, AlpacaEval, and ZeroEval. Key features include unified installation, parallel evaluation, simplified usage, and results management. Users can run various benchmarks with a consistent command-line interface and track results locally or integrate with a database for systematic tracking and leaderboard submission.

ChatGPT-API-Faucet
ChatGPT API Faucet is a frontend project for the public platform ChatGPT API Faucet, inspired by the crypto project MultiFaucet. It allows developers in the AI ecosystem to claim $1.00 for free every 24 hours. The program is developed using the Next.js framework and React library, with key components like _app.tsx for initializing pages, index.tsx for main modifications, and Layout.tsx for defining layout components. Users can deploy the project by installing dependencies, building the project, starting the project, configuring reverse proxies or using port:IP access, and running a development server. The tool also supports token balance queries and is related to projects like one-api, ChatGPT-Cost-Calculator, and Poe.Monster. It is licensed under the MIT license.

rlama
RLAMA is a powerful AI-driven question-answering tool that seamlessly integrates with local Ollama models. It enables users to create, manage, and interact with Retrieval-Augmented Generation (RAG) systems tailored to their documentation needs. RLAMA follows a clean architecture pattern with clear separation of concerns, focusing on lightweight and portable RAG capabilities with minimal dependencies. The tool processes documents, generates embeddings, stores RAG systems locally, and provides contextually-informed responses to user queries. Supported document formats include text, code, and various document types, with troubleshooting steps available for common issues like Ollama accessibility, text extraction problems, and relevance of answers.

melodisco
Melodisco is an AI music player that allows users to listen to music and manage playlists. It provides a user-friendly interface for music playback and organization. Users can deploy Melodisco with Vercel or Docker for easy setup. Local development instructions are provided for setting up the project environment. The project credits various tools and libraries used in its development, such as Next.js, Tailwind CSS, and Stripe. Melodisco is a versatile tool for music enthusiasts looking for an AI-powered music player with features like authentication, payment integration, and multi-language support.

NextChat
NextChat is a well-designed cross-platform ChatGPT web UI tool that supports Claude, GPT4, and Gemini Pro. It offers a compact client for Linux, Windows, and MacOS, with features like self-deployed LLMs compatibility, privacy-first data storage, markdown support, responsive design, and fast loading speed. Users can create, share, and debug chat tools with prompt templates, access various prompts, compress chat history, and use multiple languages. The tool also supports enterprise-level privatization and customization deployment, with features like brand customization, resource integration, permission control, knowledge integration, security auditing, private deployment, and continuous updates.

chunkr
Chunkr is an open-source document intelligence API that provides a production-ready service for document layout analysis, OCR, and semantic chunking. It allows users to convert PDFs, PPTs, Word docs, and images into RAG/LLM-ready chunks. The API offers features such as layout analysis, OCR with bounding boxes, structured HTML and markdown output, and VLM processing controls. Users can interact with Chunkr through a Python SDK, enabling them to upload documents, process them, and export results in various formats. The tool also supports self-hosted deployment options using Docker Compose or Kubernetes, with configurations for different AI models like OpenAI, Google AI Studio, and OpenRouter. Chunkr is dual-licensed under the GNU Affero General Public License v3.0 (AGPL-3.0) and a commercial license, providing flexibility for different usage scenarios.

chatllm.cpp
ChatLLM.cpp is a pure C++ implementation tool for real-time chatting with RAG on your computer. It supports inference of various models ranging from less than 1B to more than 300B. The tool provides accelerated memory-efficient CPU inference with quantization, optimized KV cache, and parallel computing. It allows streaming generation with a typewriter effect and continuous chatting with virtually unlimited content length. ChatLLM.cpp also offers features like Retrieval Augmented Generation (RAG), LoRA, Python/JavaScript/C bindings, web demo, and more possibilities. Users can clone the repository, quantize models, build the project using make or CMake, and run quantized models for interactive chatting.

LL3DA
LL3DA is a Large Language 3D Assistant that responds to both visual and textual interactions within complex 3D environments. It aims to help Large Multimodal Models (LMM) comprehend, reason, and plan in diverse 3D scenes by directly taking point cloud input and responding to textual instructions and visual prompts. LL3DA achieves remarkable results in 3D Dense Captioning and 3D Question Answering, surpassing various 3D vision-language models. The code is fully released, allowing users to train customized models and work with pre-trained weights. The tool supports training with different LLM backends and provides scripts for tuning and evaluating models on various tasks.

LLMTSCS
LLMLight is a novel framework that employs Large Language Models (LLMs) as decision-making agents for Traffic Signal Control (TSC). The framework leverages the advanced generalization capabilities of LLMs to engage in a reasoning and decision-making process akin to human intuition for effective traffic control. LLMLight has been demonstrated to be remarkably effective, generalizable, and interpretable against various transportation-based and RL-based baselines on nine real-world and synthetic datasets.

auto-subs
Auto-subs is a tool designed to automatically transcribe editing timelines using OpenAI Whisper and Stable-TS for extreme accuracy. It generates subtitles in a custom style, is completely free, and runs locally within Davinci Resolve. It works on Mac, Linux, and Windows, supporting both Free and Studio versions of Resolve. Users can jump to positions on the timeline using the Subtitle Navigator and translate from any language to English. The tool provides a user-friendly interface for creating and customizing subtitles for video content.

inferable
Inferable is an open source platform that helps users build reliable LLM-powered agentic automations at scale. It offers a managed agent runtime, durable tool calling, zero network configuration, multiple language support, and is fully open source under the MIT license. Users can define functions, register them with Inferable, and create runs that utilize these functions to automate tasks. The platform supports Node.js/TypeScript, Go, .NET, and React, and provides SDKs, core services, and bootstrap templates for various languages.
For similar tasks

SG-Nav
SG-Nav is an online 3D scene graph prompting tool designed for LLM-based zero-shot object navigation. It proposes a framework that constructs an online 3D scene graph to prompt LLMs, allowing direct application to various scenes and categories without the need for training.
For similar jobs

weave
Weave is a toolkit for developing Generative AI applications, built by Weights & Biases. With Weave, you can log and debug language model inputs, outputs, and traces; build rigorous, apples-to-apples evaluations for language model use cases; and organize all the information generated across the LLM workflow, from experimentation to evaluations to production. Weave aims to bring rigor, best-practices, and composability to the inherently experimental process of developing Generative AI software, without introducing cognitive overhead.

LLMStack
LLMStack is a no-code platform for building generative AI agents, workflows, and chatbots. It allows users to connect their own data, internal tools, and GPT-powered models without any coding experience. LLMStack can be deployed to the cloud or on-premise and can be accessed via HTTP API or triggered from Slack or Discord.

VisionCraft
The VisionCraft API is a free API for using over 100 different AI models. From images to sound.

kaito
Kaito is an operator that automates the AI/ML inference model deployment in a Kubernetes cluster. It manages large model files using container images, avoids tuning deployment parameters to fit GPU hardware by providing preset configurations, auto-provisions GPU nodes based on model requirements, and hosts large model images in the public Microsoft Container Registry (MCR) if the license allows. Using Kaito, the workflow of onboarding large AI inference models in Kubernetes is largely simplified.

PyRIT
PyRIT is an open access automation framework designed to empower security professionals and ML engineers to red team foundation models and their applications. It automates AI Red Teaming tasks to allow operators to focus on more complicated and time-consuming tasks and can also identify security harms such as misuse (e.g., malware generation, jailbreaking), and privacy harms (e.g., identity theft). The goal is to allow researchers to have a baseline of how well their model and entire inference pipeline is doing against different harm categories and to be able to compare that baseline to future iterations of their model. This allows them to have empirical data on how well their model is doing today, and detect any degradation of performance based on future improvements.

tabby
Tabby is a self-hosted AI coding assistant, offering an open-source and on-premises alternative to GitHub Copilot. It boasts several key features: * Self-contained, with no need for a DBMS or cloud service. * OpenAPI interface, easy to integrate with existing infrastructure (e.g Cloud IDE). * Supports consumer-grade GPUs.

spear
SPEAR (Simulator for Photorealistic Embodied AI Research) is a powerful tool for training embodied agents. It features 300 unique virtual indoor environments with 2,566 unique rooms and 17,234 unique objects that can be manipulated individually. Each environment is designed by a professional artist and features detailed geometry, photorealistic materials, and a unique floor plan and object layout. SPEAR is implemented as Unreal Engine assets and provides an OpenAI Gym interface for interacting with the environments via Python.

Magick
Magick is a groundbreaking visual AIDE (Artificial Intelligence Development Environment) for no-code data pipelines and multimodal agents. Magick can connect to other services and comes with nodes and templates well-suited for intelligent agents, chatbots, complex reasoning systems and realistic characters.