def _setup_actor_critic_agent(self, config: Config, load_from_ckpt: bool,
ckpt_path: str) -> None:
r"""Sets up actor critic and agent.
Args:
config: MODEL config
Returns:
None
"""
config.defrost()
config.TORCH_GPU_ID = self.config.TORCH_GPU_ID
config.freeze()
if config.CMA.use:
self.actor_critic = CMAPolicy(
observation_space=self.envs.observation_spaces[0],
action_space=self.envs.action_spaces[0],
model_config=config,
)
else:
self.actor_critic = Seq2SeqPolicy(
observation_space=self.envs.observation_spaces[0],
action_space=self.envs.action_spaces[0],
model_config=config,
)
self.actor_critic.to(self.device)
self.optimizer = torch.optim.Adam(self.actor_critic.parameters(),
lr=self.config.DAGGER.LR)
if load_from_ckpt:
ckpt_dict = self.load_checkpoint(ckpt_path, map_location="cpu")
self.actor_critic.load_state_dict(ckpt_dict["state_dict"])
logger.info(f"Loaded weights from checkpoint: {ckpt_path}")
logger.info("Finished setting up actor critic model.")
def construct_envs(
config: Config, training: bool
) -> VectorEnv:
r"""Create VectorEnv object with specified config and env class type.
To allow better performance, dataset are split into small ones for
each individual env, grouped by scenes.
Args:
config: configs that contain num_processes as well as information
necessary to create individual environments.
env_class: class type of the envs to be created.
Returns:
VectorEnv object created according to specification.
"""
num_processes = config.NUM_PROCESSES
dataset = make_dataset(config.TASK_CONFIG.DATASET.TYPE)
scenes = dataset.get_scenes_to_load(config.TASK_CONFIG.DATASET)
if len(scenes) > 0:
random.shuffle(scenes)
assert len(scenes) >= num_processes, (
"reduce the number of processes as there "
"aren't enough number of scenes"
)
scene_splits = [[] for _ in range(num_processes)]
for idx, scene in enumerate(scenes):
scene_splits[idx % len(scene_splits)].append(scene)
assert sum(map(len, scene_splits)) == len(scenes)
task = 'habitat_train_task' if training else 'habitat_eval_task'
max_duration = gin.query_parameter(f'{task}.max_length')
wrappers = [w.scoped_configurable_fn() for w in gin.query_parameter(f'{task}.wrappers')]
kwargs = get_config(training=training, max_steps=max_duration*3)
kwargs['max_duration'] = max_duration
kwargs['action_repeat'] = 1
kwargs['wrappers'] = [(wrapper, kwarg_fn(kwargs)) for wrapper, kwarg_fn in wrappers]
env_kwargs = []
for scenes in scene_splits:
kw = kwargs.copy()
config = kw['config'].clone()
if len(scenes) > 0:
config.defrost()
config.DATASET.CONTENT_SCENES = scenes
config.freeze()
kw['config'] = config
env_kwargs.append(kw)
envs = habitat.VectorEnv(
make_env_fn=make_env_fn,
env_fn_args=tuple(
# tuple(zip(configs, env_classes, range(num_processes)))
tuple(zip(env_kwargs, range(num_processes)))
),
)
return envs
def construct_envs(config: Config, env_class: Type[Union[Env,
RLEnv]]) -> VectorEnv:
r"""Create VectorEnv object with specified config and env class type.
To allow better performance, dataset are split into small ones for
each individual env, grouped by scenes.
Args:
config: configs that contain num_processes as well as information
necessary to create individual environments.
env_class: class type of the envs to be created.
Returns:
VectorEnv object created according to specification.
"""
num_processes = config.NUM_PROCESSES
configs = []
env_classes = [env_class for _ in range(num_processes)]
dataset = make_dataset(config.TASK_CONFIG.DATASET.TYPE)
scenes = dataset.get_scenes_to_load(config.TASK_CONFIG.DATASET)
if len(scenes) > 0:
random.shuffle(scenes)
assert len(scenes) >= num_processes, (
"reduce the number of processes as there "
"aren't enough number of scenes")
scene_splits = [[] for _ in range(num_processes)]
for idx, scene in enumerate(scenes):
scene_splits[idx % len(scene_splits)].append(scene)
assert sum(map(len, scene_splits)) == len(scenes)
for i in range(num_processes):
task_config = config.TASK_CONFIG.clone()
task_config.defrost()
if len(scenes) > 0:
task_config.DATASET.CONTENT_SCENES = scene_splits[i]
task_config.SIMULATOR.HABITAT_SIM_V0.GPU_DEVICE_ID = (
config.SIMULATOR_GPU_ID)
task_config.SIMULATOR.AGENT_0.SENSORS = config.SENSORS
task_config.freeze()
config.defrost()
config.TASK_CONFIG = task_config
config.freeze()
configs.append(config.clone())
envs = habitat.VectorEnv(
make_env_fn=make_env_fn,
env_fn_args=tuple(
tuple(zip(configs, env_classes, range(num_processes)))),
)
return envs
def __init__(self, task_config: Optional[Config] = None) -> None:
r"""..
:param task_config: config to be used for creating the environment
"""
dummy_config = Config()
dummy_config.RL = Config()
dummy_config.RL.SLACK_REWARD = -0.01
dummy_config.RL.SUCCESS_REWARD = 10
dummy_config.RL.WITH_TIME_PENALTY = True
dummy_config.RL.DISTANCE_REWARD_SCALE = 1
dummy_config.RL.WITH_DISTANCE_REWARD = True
dummy_config.RL.defrost()
dummy_config.TASK_CONFIG = task_config
dummy_config.freeze()
dataset = make_dataset(id_dataset=task_config.DATASET.TYPE,
config=task_config.DATASET)
self._env = NavRLEnv(config=dummy_config, dataset=dataset)
def construct_env_configs_mp3d(config: Config) -> List[Config]:
r"""Create list of Habitat Configs for training on multiple processes
To allow better performance, dataset are split into small ones for
each individual env, grouped by scenes.
Args:
config: configs that contain num_processes as well as information
necessary to create individual environments.
Returns:
List of Configs, one for each process
"""
config.freeze()
num_processes = config.NUM_PROCESSES
configs = []
# dataset = habitat.make_dataset(config.DATASET.TYPE)
# scenes = dataset.get_scenes_to_load(config.DATASET)
if num_processes == 1:
scene_splits = [["pRbA3pwrgk9"]]
else:
small = [
"rPc6DW4iMge",
"e9zR4mvMWw7",
"uNb9QFRL6hY",
"qoiz87JEwZ2",
"sKLMLpTHeUy",
"s8pcmisQ38h",
"759xd9YjKW5",
"XcA2TqTSSAj",
"SN83YJsR3w2",
"8WUmhLawc2A",
"JeFG25nYj2p",
"17DRP5sb8fy",
"Uxmj2M2itWa",
"XcA2TqTSSAj",
"SN83YJsR3w2",
"8WUmhLawc2A",
"JeFG25nYj2p",
"17DRP5sb8fy",
"Uxmj2M2itWa",
"D7N2EKCX4Sj",
"b8cTxDM8gDG",
"sT4fr6TAbpF",
"S9hNv5qa7GM",
"82sE5b5pLXE",
"pRbA3pwrgk9",
"aayBHfsNo7d",
"cV4RVeZvu5T",
"i5noydFURQK",
"YmJkqBEsHnH",
"jh4fc5c5qoQ",
"VVfe2KiqLaN",
"29hnd4uzFmX",
"Pm6F8kyY3z2",
"JF19kD82Mey",
"GdvgFV5R1Z5",
"HxpKQynjfin",
"vyrNrziPKCB",
]
med = [
"V2XKFyX4ASd",
"VFuaQ6m2Qom",
"ZMojNkEp431",
"5LpN3gDmAk7",
"r47D5H71a5s",
"ULsKaCPVFJR",
"E9uDoFAP3SH",
"kEZ7cmS4wCh",
"ac26ZMwG7aT",
"dhjEzFoUFzH",
"mJXqzFtmKg4",
"p5wJjkQkbXX",
"Vvot9Ly1tCj",
"EDJbREhghzL",
"VzqfbhrpDEA",
"7y3sRwLe3Va",
]
scene_splits = [[] for _ in range(config.NUM_PROCESSES)]
distribute(
small,
scene_splits,
num_gpus=8,
procs_per_gpu=3,
proc_offset=1,
scenes_per_process=2,
)
distribute(
med,
scene_splits,
num_gpus=8,
procs_per_gpu=3,
proc_offset=0,
scenes_per_process=1,
)
# gpu0 = [['pRbA3pwrgk9', '82sE5b5pLXE', 'S9hNv5qa7GM'],
# ['Uxmj2M2itWa', '17DRP5sb8fy', 'JeFG25nYj2p'],
# ['5q7pvUzZiYa', '759xd9YjKW5', 's8pcmisQ38h'],
# ['e9zR4mvMWw7', 'rPc6DW4iMge', 'vyrNrziPKCB']]
# gpu1 = [['sT4fr6TAbpF', 'b8cTxDM8gDG', 'D7N2EKCX4Sj'],
# ['8WUmhLawc2A', 'SN83YJsR3w2', 'XcA2TqTSSAj'],
# ['sKLMLpTHeUy', 'qoiz87JEwZ2', 'uNb9QFRL6hY'],
# ['V2XKFyX4ASd', 'VFuaQ6m2Qom', 'ZMojNkEp431']]
# gpu2 = [['5LpN3gDmAk7', 'r47D5H71a5s', 'ULsKaCPVFJR', 'E9uDoFAP3SH'],
# ['VVfe2KiqLaN', 'jh4fc5c5qoQ', 'YmJkqBEsHnH'], # small
# ['i5noydFURQK', 'cV4RVeZvu5T', 'aayBHfsNo7d']] # small
# gpu3 = [['kEZ7cmS4wCh', 'ac26ZMwG7aT', 'dhjEzFoUFzH'],
# ['mJXqzFtmKg4', 'p5wJjkQkbXX', 'Vvot9Ly1tCj']]
# gpu4 = [['EDJbREhghzL', 'VzqfbhrpDEA', '7y3sRwLe3Va'],
# ['ur6pFq6Qu1A', 'PX4nDJXEHrG', 'PuKPg4mmafe']]
# gpu5 = [['r1Q1Z4BcV1o', 'gTV8FGcVJC9', '1pXnuDYAj8r'],
# ['JF19kD82Mey', 'Pm6F8kyY3z2', '29hnd4uzFmX']] # small
# gpu6 = [['VLzqgDo317F', '1LXtFkjw3qL'],
# ['HxpKQynjfin', 'gZ6f7yhEvPG', 'GdvgFV5R1Z5']] # small
# gpu7 = [['D7G3Y4RVNrH', 'B6ByNegPMKs']]
#
# scene_splits = gpu0 + gpu1 + gpu2 + gpu3 + gpu4 + gpu5 + gpu6 + gpu7
for i in range(num_processes):
task_config = config.clone()
task_config.defrost()
task_config.DATASET.CONTENT_SCENES = scene_splits[i]
task_config.SIMULATOR.HABITAT_SIM_V0.GPU_DEVICE_ID = config.SIMULATOR_GPU_IDS[
i % len(config.SIMULATOR_GPU_IDS)
]
task_config.freeze()
configs.append(task_config.clone())
return configs
def construct_env_configs(
config: Config, allow_scene_repeat: bool = False,
) -> List[Config]:
"""Create list of Habitat Configs for training on multiple processes To
allow better performance, dataset are split into small ones for each
individual env, grouped by scenes.
# Parameters
config : configs that contain num_processes as well as information
necessary to create individual environments.
allow_scene_repeat: if `True` and the number of distinct scenes
in the dataset is less than the total number of processes this will
result in scenes being repeated across processes. If `False`, then
if the total number of processes is greater than the number of scenes,
this will result in a RuntimeError exception being raised.
# Returns
List of Configs, one for each process.
"""
config.freeze()
num_processes = config.NUM_PROCESSES
configs = []
dataset = habitat.make_dataset(config.DATASET.TYPE)
scenes = dataset.get_scenes_to_load(config.DATASET)
if len(scenes) > 0:
if len(scenes) < num_processes:
if not allow_scene_repeat:
raise RuntimeError(
"reduce the number of processes as there aren't enough number of scenes."
)
else:
scenes = (scenes * (1 + (num_processes // len(scenes))))[:num_processes]
scene_splits: List[List] = [[] for _ in range(num_processes)]
for idx, scene in enumerate(scenes):
scene_splits[idx % len(scene_splits)].append(scene)
assert sum(map(len, scene_splits)) == len(scenes)
for i in range(num_processes):
task_config = config.clone()
task_config.defrost()
if len(scenes) > 0:
task_config.DATASET.CONTENT_SCENES = scene_splits[i]
if len(config.SIMULATOR_GPU_IDS) == 0:
task_config.SIMULATOR.HABITAT_SIM_V0.GPU_DEVICE_ID = -1
else:
task_config.SIMULATOR.HABITAT_SIM_V0.GPU_DEVICE_ID = config.SIMULATOR_GPU_IDS[
i % len(config.SIMULATOR_GPU_IDS)
]
task_config.freeze()
configs.append(task_config.clone())
return configs
def __init__(self, observation_space: Space, num_actions: int,
model_config: Config):
super().__init__()
self.model_config = model_config
model_config.defrost()
model_config.INSTRUCTION_ENCODER.final_state_only = False
model_config.freeze()
# Init the instruction encoder
self.instruction_encoder = InstructionEncoder(
model_config.INSTRUCTION_ENCODER)
# Init the depth encoder
assert model_config.DEPTH_ENCODER.cnn_type in [
"VlnResnetDepthEncoder"
], "DEPTH_ENCODER.cnn_type must be VlnResnetDepthEncoder"
self.depth_encoder = VlnResnetDepthEncoder(
observation_space,
output_size=model_config.DEPTH_ENCODER.output_size,
checkpoint=model_config.DEPTH_ENCODER.ddppo_checkpoint,
backbone=model_config.DEPTH_ENCODER.backbone,
spatial_output=True,
)
# Init the RGB encoder
assert model_config.RGB_ENCODER.cnn_type in [
"TorchVisionResNet50"
], "RGB_ENCODER.cnn_type must be TorchVisionResNet50'."
device = (torch.device("cuda", model_config.TORCH_GPU_ID)
if torch.cuda.is_available() else torch.device("cpu"))
self.rgb_encoder = TorchVisionResNet50(
observation_space,
model_config.RGB_ENCODER.output_size,
model_config.RGB_ENCODER.resnet_output_size,
device,
spatial_output=True,
)
if model_config.CMA.use_prev_action:
self.prev_action_embedding = nn.Embedding(num_actions + 1, 32)
self.rcm_state_encoder = model_config.CMA.rcm_state_encoder
hidden_size = model_config.STATE_ENCODER.hidden_size
self._hidden_size = hidden_size
if self.rcm_state_encoder:
self.state_encoder = RCMStateEncoder(
self.rgb_encoder.output_shape[0],
self.depth_encoder.output_shape[0],
model_config.STATE_ENCODER.hidden_size,
self.prev_action_embedding.embedding_dim,
)
else:
self.rgb_linear = nn.Sequential(
nn.AdaptiveAvgPool1d(1),
nn.Flatten(),
nn.Linear(
self.rgb_encoder.output_shape[0],
model_config.RGB_ENCODER.output_size,
),
nn.ReLU(True),
)
self.depth_linear = nn.Sequential(
nn.Flatten(),
nn.Linear(
np.prod(self.depth_encoder.output_shape),
model_config.DEPTH_ENCODER.output_size,
),
nn.ReLU(True),
)
# Init the RNN state decoder
rnn_input_size = model_config.DEPTH_ENCODER.output_size
rnn_input_size += model_config.RGB_ENCODER.output_size
if model_config.CMA.use_prev_action:
rnn_input_size += self.prev_action_embedding.embedding_dim
self.state_encoder = RNNStateEncoder(
input_size=rnn_input_size,
hidden_size=model_config.STATE_ENCODER.hidden_size,
num_layers=1,
rnn_type=model_config.STATE_ENCODER.rnn_type,
)
self._output_size = (model_config.STATE_ENCODER.hidden_size +
model_config.RGB_ENCODER.output_size +
model_config.DEPTH_ENCODER.output_size +
self.instruction_encoder.output_size)
self.rgb_kv = nn.Conv1d(
self.rgb_encoder.output_shape[0],
hidden_size // 2 + model_config.RGB_ENCODER.output_size,
1,
)
self.depth_kv = nn.Conv1d(
self.depth_encoder.output_shape[0],
hidden_size // 2 + model_config.DEPTH_ENCODER.output_size,
1,
)
# self.depth_kv = nn.Conv1d(
# self.depth_encoder.output_shape[0],
# hidden_size,
# 1,
# )
self.state_q = nn.Linear(hidden_size, hidden_size // 2)
self.text_k = nn.Conv1d(self.instruction_encoder.output_size,
hidden_size // 2, 1)
self.text_q = nn.Linear(self.instruction_encoder.output_size,
hidden_size // 2)
self.register_buffer("_scale",
torch.tensor(1.0 / ((hidden_size // 2)**0.5)))
if model_config.CMA.use_prev_action:
self.second_state_compress = nn.Sequential(
nn.Linear(
self._output_size +
self.prev_action_embedding.embedding_dim,
self._hidden_size,
),
nn.ReLU(True),
)
else:
self.second_state_compress = nn.Sequential(
nn.Linear(
self._output_size,
self._hidden_size,
),
nn.ReLU(True),
)
self.second_state_encoder = RNNStateEncoder(
input_size=self._hidden_size,
hidden_size=self._hidden_size,
num_layers=1,
rnn_type=model_config.STATE_ENCODER.rnn_type,
)
self._output_size = model_config.STATE_ENCODER.hidden_size
self.progress_monitor = nn.Linear(self.output_size, 1)
self.linear = nn.Linear(self.model_config.STATE_ENCODER.hidden_size,
num_actions)
self.stop_linear = nn.Linear(
self.model_config.STATE_ENCODER.hidden_size, 1)
self._init_layers()
self.train()
def construct_envs(config: Config, env_class: Type[Union[Env,
RLEnv]]) -> VectorEnv:
r"""Create VectorEnv object with specified config and env class type.
To allow better performance, dataset are split into small ones for
each individual env, grouped by scenes.
Args:
config: configs that contain num_processes as well as information
necessary to create individual environments.
env_class: class type of the envs to be created
Returns:
VectorEnv object created according to specification.
"""
num_processes = config.NUM_PROCESSES
configs = []
env_classes = [env_class for _ in range(num_processes)]
dataset = make_dataset(config.TASK_CONFIG.DATASET.TYPE)
scenes = dataset.get_scenes_to_load(config.TASK_CONFIG.DATASET)
# rearrange scenes in the order of scene size since there is a severe imbalance of data size
if "replica" in config.TASK_CONFIG.DATASET.SCENES_DIR:
scenes_new = list()
for scene in SCENES:
if scene in scenes:
scenes_new.append(scene)
scenes = scenes_new
if len(scenes) > 0:
# random.shuffle(scenes)
assert len(scenes) >= num_processes, (
"reduce the number of processes as there "
"aren't enough number of scenes")
scene_splits = [[] for _ in range(num_processes)]
for idx, scene in enumerate(scenes):
scene_splits[idx % len(scene_splits)].append(scene)
assert sum(map(len, scene_splits)) == len(scenes)
for i in range(num_processes):
task_config = config.TASK_CONFIG.clone()
task_config.defrost()
if len(scenes) > 0:
task_config.DATASET.CONTENT_SCENES = scene_splits[i]
logging.debug('All scenes: {}'.format(','.join(scene_splits[i])))
# overwrite the task config with top-level config file
task_config.SIMULATOR.HABITAT_SIM_V0.GPU_DEVICE_ID = (
config.SIMULATOR_GPU_ID)
task_config.SIMULATOR.AGENT_0.SENSORS = config.SENSORS
task_config.freeze()
config.defrost()
config.TASK_CONFIG = task_config
config.freeze()
configs.append(config.clone())
# use VectorEnv for the best performance and ThreadedVectorEnv for debugging
if config.USE_SYNC_VECENV:
env_launcher = SyncVectorEnv
logging.info('Using SyncVectorEnv')
elif config.USE_VECENV:
env_launcher = habitat.VectorEnv
logging.info('Using VectorEnv')
else:
env_launcher = habitat.ThreadedVectorEnv
logging.info('Using ThreadedVectorEnv')
envs = env_launcher(
make_env_fn=make_env_fn,
env_fn_args=tuple(
tuple(zip(configs, env_classes, range(num_processes)))),
)
return envs
def construct_env_configs(config: Config) -> List[Config]:
"""Create list of Habitat Configs for training on multiple processes To
allow better performance, dataset are split into small ones for each
individual env, grouped by scenes.
# Parameters
config : configs that contain num_processes as well as information
necessary to create individual environments.
# Returns
List of Configs, one for each process.
"""
config.freeze()
num_processes = config.NUM_PROCESSES
configs = []
dataset = habitat.make_dataset(config.DATASET.TYPE)
scenes = dataset.get_scenes_to_load(config.DATASET)
# scenes = [
# "sT4fr6TAbpF",
# "HxpKQynjfin",
# "8WUmhLawc2A",
# "r47D5H71a5s",
# "Pm6F8kyY3z2",
# "17DRP5sb8fy",
# "Vvot9Ly1tCj",
# "GdvgFV5R1Z5",
# "sT4fr6TAbpF",
# "HxpKQynjfin",
# "8WUmhLawc2A",
# "r47D5H71a5s",
# "Pm6F8kyY3z2",
# "17DRP5sb8fy",
# "Vvot9Ly1tCj",
# "GdvgFV5R1Z5",
# "sT4fr6TAbpF",
# "HxpKQynjfin",
# "8WUmhLawc2A",
# "r47D5H71a5s",
# "Pm6F8kyY3z2",
# "17DRP5sb8fy",
# "Vvot9Ly1tCj",
# "GdvgFV5R1Z5",
# ]
# scenes = ['rPc6DW4iMge', 'e9zR4mvMWw7', 'uNb9QFRL6hY', 'sKLMLpTHeUy', 's8pcmisQ38h', '759xd9YjKW5',
# 'XcA2TqTSSAj', 'SN83YJsR3w2', '8WUmhLawc2A', 'JeFG25nYj2p', '17DRP5sb8fy', 'Uxmj2M2itWa',
# 'b8cTxDM8gDG', 'sT4fr6TAbpF', 'S9hNv5qa7GM', '82sE5b5pLXE', 'pRbA3pwrgk9', 'aayBHfsNo7d',
# 'cV4RVeZvu5T', 'i5noydFURQK', 'jh4fc5c5qoQ', 'VVfe2KiqLaN', '29hnd4uzFmX', 'Pm6F8kyY3z2',
# 'JF19kD82Mey', 'GdvgFV5R1Z5', 'HxpKQynjfin']
# scenes = ['rPc6DW4iMge', 'e9zR4mvMWw7', 'uNb9QFRL6hY', 'qoiz87JEwZ2', 'sKLMLpTHeUy', 's8pcmisQ38h', '759xd9YjKW5',
# '5q7pvUzZiYa', 'XcA2TqTSSAj', 'SN83YJsR3w2', '8WUmhLawc2A', 'JeFG25nYj2p', '17DRP5sb8fy', 'Uxmj2M2itWa',
# 'D7N2EKCX4Sj', 'b8cTxDM8gDG', 'sT4fr6TAbpF', 'S9hNv5qa7GM', '82sE5b5pLXE', 'pRbA3pwrgk9', 'aayBHfsNo7d',
# 'cV4RVeZvu5T', 'i5noydFURQK', 'YmJkqBEsHnH', 'jh4fc5c5qoQ', 'VVfe2KiqLaN', '29hnd4uzFmX', 'Pm6F8kyY3z2',
# 'JF19kD82Mey', 'GdvgFV5R1Z5', 'HxpKQynjfin', 'vyrNrziPKCB']
# scenes = ['29hnd4uzFmX', 'i5noydFURQK', 'cV4RVeZvu5T', '82sE5b5pLXE', 'JeFG25nYj2p', '8WUmhLawc2A', 'VFuaQ6m2Qom',
# 'rPc6DW4iMge', '29hnd4uzFmX', 'i5noydFURQK', 'cV4RVeZvu5T', '82sE5b5pLXE',
# 'JeFG25nYj2p', '8WUmhLawc2A', 'VFuaQ6m2Qom', 'rPc6DW4iMge']
if len(scenes) > 0:
# random.shuffle(scenes)
assert len(scenes) >= num_processes, (
"reduce the number of processes as there "
"aren't enough number of scenes")
scene_splits: List[List] = [[] for _ in range(num_processes)]
for idx, scene in enumerate(scenes):
scene_splits[idx % len(scene_splits)].append(scene)
assert sum(map(len, scene_splits)) == len(scenes)
for i in range(num_processes):
task_config = config.clone()
task_config.defrost()
if len(scenes) > 0:
task_config.DATASET.CONTENT_SCENES = scene_splits[i]
task_config.SIMULATOR.HABITAT_SIM_V0.GPU_DEVICE_ID = config.SIMULATOR_GPU_IDS[
i % len(config.SIMULATOR_GPU_IDS)]
task_config.freeze()
configs.append(task_config.clone())
return configs