def create_rgb_trainer_params():
from params.simulator.sbpd_simulator_params import create_params as create_simulator_params
from params.visual_navigation_trainer_params import create_params as create_trainer_params
from params.waypoint_grid.sbpd_image_space_grid import create_params as create_waypoint_params
from params.model.resnet50_arch_v1_params import create_params as create_model_params
from params.reachability_map.reachability_map_params import create_params as create_reachability_map_params
# Load the dependencies
simulator_params = create_simulator_params()
# Seed
simulator_params.seed = 10
# Ensure the waypoint grid is projected SBPD Grid
simulator_params.planner_params.control_pipeline_params.waypoint_params = create_waypoint_params(
)
# Ensure the renderer modality is rgb
simulator_params.obstacle_map_params.renderer_params.camera_params.modalities = [
'rgb'
]
simulator_params.obstacle_map_params.renderer_params.camera_params.img_channels = 3
simulator_params.obstacle_map_params.renderer_params.camera_params.width = 1024
simulator_params.obstacle_map_params.renderer_params.camera_params.height = 1024
simulator_params.obstacle_map_params.renderer_params.camera_params.im_resize = 0.21875
# Change episode horizon
simulator_params.episode_horizon_s = 80.0
# Ensure the renderer is using area3
# TODO: When generating our own data, choose area 3, area4, area5
# When testing, choosing area 1
simulator_params.obstacle_map_params.renderer_params.building_name = 'area4'
# TODO: area3: thread='v1'; area4: thread='v2'; area5a: thread='v3'
simulator_params.reachability_map_params.thread = 'v2'
# specify reachability data dir name according to building_name and thread
create_reachability_data_dir_params(
simulator_params.reachability_map_params)
# Save trajectory data
simulator_params.save_trajectory_data = True
# Choose cost function
# TODO: in training, always use 'heuristics'
# simulator_params.cost = 'heuristics' # heuristics cost.
simulator_params.cost = 'reachability'
p = create_trainer_params(simulator_params=simulator_params)
# Create the model params
p.model = create_model_params()
return p
def create_rgb_trainer_params():
from params.simulator.sbpd_simulator_params import create_params as create_simulator_params
from params.visual_navigation_trainer_params import create_params as create_trainer_params
from params.waypoint_grid.sbpd_image_space_grid import create_params as create_waypoint_params
from params.model.resnet50_arch_v1_params import create_params as create_model_params
# Load the dependencies
simulator_params = create_simulator_params()
# Ensure the waypoint grid is projected SBPD Grid
simulator_params.planner_params.control_pipeline_params.waypoint_params = create_waypoint_params(
)
# Ensure the renderer modality is rgb
simulator_params.obstacle_map_params.renderer_params.camera_params.modalities = [
'rgb'
]
simulator_params.obstacle_map_params.renderer_params.camera_params.img_channels = 3
simulator_params.obstacle_map_params.renderer_params.camera_params.width = 1024
simulator_params.obstacle_map_params.renderer_params.camera_params.height = 1024
simulator_params.obstacle_map_params.renderer_params.camera_params.im_resize = 0.21875
# Ensure the renderer is using area1
simulator_params.obstacle_map_params.renderer_params.building_name = 'area1'
# Change the episode horizon
simulator_params.episode_horizon_s = 80.0
# Save trajectory data
simulator_params.save_trajectory_data = True
p = create_trainer_params(simulator_params=simulator_params)
# Create the model params
p.model = create_model_params()
return p