def create_model(cls, **kwargs) -> nn.Module:
return ResnetTensorPointNavActorCritic(
action_space=gym.spaces.Discrete(len(PointNavTask.class_action_names())),
observation_space=kwargs["sensor_preprocessor_graph"].observation_spaces,
goal_sensor_uuid="target_coordinates_ind",
rgb_resnet_preprocessor_uuid="rgb_resnet",
hidden_size=512,
goal_dims=32,
)
def create_model(cls, **kwargs) -> nn.Module:
return ResnetTensorPointNavActorCritic(
action_space=gym.spaces.Discrete(
len(PointNavTask.class_action_names())),
observation_space=kwargs["observation_set"].observation_spaces,
goal_sensor_uuid=PointNavBaseConfig.TARGET_UUID,
depth_resnet_preprocessor_uuid=Resnet18NavBaseConfig.
RESNET_OUTPUT_UUID,
)
