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