def __init__(self):
super().__init__()
self.SENSORS = [
RGBSensorHabitat(
height=self.SCREEN_SIZE,
width=self.SCREEN_SIZE,
use_resnet_normalization=True,
),
DepthSensorHabitat(
height=self.SCREEN_SIZE,
width=self.SCREEN_SIZE,
use_normalization=True,
),
TargetCoordinatesSensorHabitat(coordinate_dims=2),
]
self.PREPROCESSORS = []
self.OBSERVATIONS = [
"rgb",
"depth",
"target_coordinates_ind",
]
self.CONFIG = self.CONFIG.clone()
self.CONFIG.SIMULATOR.AGENT_0.SENSORS = ["DEPTH_SENSOR", "RGB_SENSOR"]
self.TRAIN_CONFIGS = construct_env_configs(config=self.CONFIG)
class PointNavHabitatDepthDeterministiSimpleConvGRUDDPPOExperimentConfig(
PointNavHabitatBaseConfig, PointNavHabitatMixInPPOConfig,
PointNavMixInSimpleConvGRUConfig):
"""An Point Navigation experiment configuration in Habitat with Depth
input."""
SENSORS = [
DepthSensorHabitat(
height=PointNavHabitatBaseConfig.SCREEN_SIZE,
width=PointNavHabitatBaseConfig.SCREEN_SIZE,
use_normalization=True,
),
TargetCoordinatesSensorHabitat(coordinate_dims=2),
]
@classmethod
def tag(cls):
return "Pointnav-Habitat-Depth-SimpleConv-DDPPO"