Python CN Examples

Example #1

File: default.py Project: VEDANTGHODKE/Language-Guided-Navigation-3D

from typing import List, Optional, Union

from habitat.config.default import Config as CN
from habitat.config.default import get_config

_C = get_config()
_C.defrost()

# -----------------------------------------------------------------------------
# GPS SENSOR
# -----------------------------------------------------------------------------
_C.TASK.GLOBAL_GPS_SENSOR = CN()
_C.TASK.GLOBAL_GPS_SENSOR.TYPE = "GlobalGPSSensor"
_C.TASK.GLOBAL_GPS_SENSOR.DIMENSIONALITY = 3
# -----------------------------------------------------------------------------
# ORACLE ACTION SENSOR
# -----------------------------------------------------------------------------
_C.TASK.ORACLE_ACTION_SENSOR = CN()
_C.TASK.ORACLE_ACTION_SENSOR.TYPE = "OracleActionSensor"
_C.TASK.ORACLE_ACTION_SENSOR.GOAL_RADIUS = 0.5
# -----------------------------------------------------------------------------
# VLN ORACLE ACTION SENSOR
# -----------------------------------------------------------------------------
_C.TASK.VLN_ORACLE_ACTION_SENSOR = CN()
_C.TASK.VLN_ORACLE_ACTION_SENSOR.TYPE = "VLNOracleActionSensor"
_C.TASK.VLN_ORACLE_ACTION_SENSOR.GOAL_RADIUS = 0.5
# -----------------------------------------------------------------------------
# VLN ORACLE PROGRESS SENSOR
# -----------------------------------------------------------------------------
_C.TASK.VLN_ORACLE_PROGRESS_SENSOR = CN()
_C.TASK.VLN_ORACLE_PROGRESS_SENSOR.TYPE = "VLNOracleProgressSensor"

Example #2

File: default.py Project: aimagelab/LoCoNav

from typing import List, Optional, Union

from habitat.config.default import (
    CONFIG_FILE_SEPARATOR,
)
from habitat.config.default import Config as CN
from habitat.config.default import get_config

_C = get_config()
_C.defrost()

# -----------------------------------------------------------------------------
# # SIMULATOR
# -----------------------------------------------------------------------------
_C.SIMULATOR.ACTION_SPACE_CONFIG = "pyrobotnoisy"
_C.SIMULATOR.NOISE_MODEL = CN()
_C.SIMULATOR.NOISE_MODEL.ROBOT = "LoCoBot"
_C.SIMULATOR.NOISE_MODEL.CONTROLLER = "ILQR"
_C.SIMULATOR.NOISE_MODEL.NOISE_MULTIPLIER = 1.0
# -----------------------------------------------------------------------------
# # TASK SENSORS
# -----------------------------------------------------------------------------
# -----------------------------------------------------------------------------
# STARTING COORDINATES SENSOR
# -----------------------------------------------------------------------------
_C.TASK.STARTING_COORDS_SENSOR = CN()
_C.TASK.STARTING_COORDS_SENSOR.TYPE = "StartingCoordinatesSensor"
# -----------------------------------------------------------------------------
# SCENE NAME SENSOR
# -----------------------------------------------------------------------------
_C.TASK.SCENE_NAME_SENSOR = CN()

Example #3

File: default.py Project: ignc-research/semantic_spatial_imagination

from habitat.config.default import Config as CN
from habitat.config.default import get_config
from habitat.config.default import (
    CONFIG_FILE_SEPARATOR,
    DEFAULT_CONFIG_DIR,
)

_C = get_config()
_C.defrost()

# -----------------------------------------------------------------------------
# # SIMULATOR
# -----------------------------------------------------------------------------
_C.SIMULATOR.ACTION_SPACE_CONFIG = "pyrobotnoisy"
_C.SIMULATOR.NOISE_MODEL = CN()
_C.SIMULATOR.NOISE_MODEL.ROBOT = "LoCoBot"
_C.SIMULATOR.NOISE_MODEL.CONTROLLER = "ILQR"
_C.SIMULATOR.NOISE_MODEL.NOISE_MULTIPLIER = 1.0
# -----------------------------------------------------------------------------
# # TASK SENSORS
# -----------------------------------------------------------------------------
# -----------------------------------------------------------------------------
# GT POSE SENSOR
# -----------------------------------------------------------------------------
_C.TASK.GT_POSE_SENSOR = CN()
_C.TASK.GT_POSE_SENSOR.TYPE = "GTPoseSensor"
# -----------------------------------------------------------------------------
# NOISY POSE SENSOR
# -----------------------------------------------------------------------------
_C.TASK.NOISY_POSE_SENSOR = CN()

Example #4

File: default.py Project: VEDANTGHODKE/Language-Guided-Navigation-3D

from typing import List, Optional, Union

from habitat.config.default import Config as CN

from habitat_extensions.config.default import get_extended_config as get_task_config

# -----------------------------------------------------------------------------
# EXPERIMENT CONFIG
# -----------------------------------------------------------------------------
_C = CN()
_C.BASE_TASK_CONFIG_PATH = "habitat_extensions/config/vlnce_task.yaml"
_C.TASK_CONFIG = CN()  # task_config will be stored as a config node
_C.CMD_TRAILING_OPTS = []  # store command line options as list of strings
_C.TRAINER_NAME = "dagger"
_C.ENV_NAME = "VLNCEDaggerEnv"
_C.SIMULATOR_GPU_ID = 0
_C.TORCH_GPU_ID = 0
_C.NUM_PROCESSES = 4
_C.VIDEO_OPTION = []  # options: "disk", "tensorboard"
_C.VIDEO_DIR = "videos/debug"
_C.TENSORBOARD_DIR = "data/tensorboard_dirs/debug"
_C.SENSORS = ["RGB_SENSOR", "DEPTH_SENSOR"]
_C.CHECKPOINT_FOLDER = "data/checkpoints"
_C.LOG_FILE = "train.log"
_C.EVAL_CKPT_PATH_DIR = "data/checkpoints"  # path to ckpt or path to ckpts dir

# -----------------------------------------------------------------------------
# EVAL CONFIG
# -----------------------------------------------------------------------------
_C.EVAL = CN()
# The split to evaluate on