环境配置

habitat

https://github.com/facebookresearch/habitat-lab?tab=readme-ov-file#installation

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conda create -n habitat python=3.9 cmake=3.14.0
conda activate habitat
conda install habitat-sim withbullet -c conda-forge -c aihabitat

Note, for newer features added after the most recent release, you may need to install aihabitat-nightly. See Habitat-Sim’s installation instructions for more details.

pip install habitat-lab stable version.

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git clone --branch stable https://github.com/facebookresearch/habitat-lab.git
cd habitat-lab
pip install -e habitat-lab  # install habitat_lab

Install habitat-baselines.

The command above will install only core of Habitat-Lab. To include habitat_baselines along with all additional requirements, use the command below after installing habitat-lab:

1	pip install -e habitat-baselines # install habitat_baselines

pytorch

1	nvcc --version

前往官网找到适配的 pytorch 版本

https://pytorch.org/get-started/locally/

例如

1	pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu126

fisherrf

1	git clone https://github.com/JiangWenPL/FisherRF-active-mapping.git --recursive

去除 environment 中与 nvidia pytorch 相关的内容

1	conda env update -f environment.yml