def create_model(cls, **kwargs) -> nn.Module: rgb_uuid = next( (s.uuid for s in cls.SENSORS if isinstance(s, RGBSensor)), None) depth_uuid = next( (s.uuid for s in cls.SENSORS if isinstance(s, DepthSensor)), None) goal_sensor_uuid = next( (s.uuid for s in cls.SENSORS if isinstance(s, (GPSCompassSensorRoboThor, TargetCoordinatesSensorHabitat))), None, ) return PointNavActorCriticSimpleConvRNN( action_space=gym.spaces.Discrete( len(PointNavTask.class_action_names())), observation_space=kwargs["sensor_preprocessor_graph"]. observation_spaces, rgb_uuid=rgb_uuid, depth_uuid=depth_uuid, goal_sensor_uuid=goal_sensor_uuid, hidden_size=512, embed_coordinates=False, coordinate_dims=2, num_rnn_layers=1, rnn_type="GRU", )
def create_model(cls, **kwargs) -> nn.Module: return PointNavActorCriticSimpleConvRNN( action_space=gym.spaces.Discrete( len(PointNavTask.class_action_names())), observation_space=SensorSuite(cls.SENSORS # type:ignore ).observation_spaces, goal_sensor_uuid=PointNavBaseConfig.TARGET_UUID, )
def create_model(cls, **kwargs) -> nn.Module: return PointNavActorCriticSimpleConvRNN( action_space=gym.spaces.Discrete(len(PointNavTask.class_action_names())), observation_space=kwargs["observation_set"].observation_spaces, goal_sensor_uuid="target_coordinates_ind", hidden_size=512, embed_coordinates=False, coordinate_dims=2, num_rnn_layers=1, rnn_type="GRU", )