from lib.util.measures import MeasureDistDirTime
config = {
'task': 'point_goal',
'goal': {
'position': 'random',
'radius': 0.25
},
'measure_fun': MeasureDistDirTime(goal_dist_threshold=0.4),
'reward_type': 'dist_time',
'agent': {
'radialClearance': 0.2
},
'scenes_file': '../data/scenes.multiroom.csv',
'states_file': '../data/episode_states.suncg.csv.bz2',
'scene': {
'arch_only': False,
'retexture': True,
'empty_room': True,
'dataset': 'p5dScene'
},
'scene_filter': lambda s: s['nrooms'] == 2,
'episode_filter': lambda e: e['pathNumDoors'] > 0,
'objective_size': 4 # For UNREAL
}
from lib.util.measures import MeasureDistDirTime
config = {
'task': 'object_goal',
'goal': {
'categories': ['arch', 'door'],
'select': 'random',
'dist_from_bbox': True
},
'measure_fun': MeasureDistDirTime(),
'reward_type': 'dist_time',
'agent': {
'radialClearance': 0.2
},
'scenes_file': '../data/scenes.multiroom.csv',
'states_file': '../data/episode_states.suncg.csv.bz2',
'scene': {
'arch_only': False,
'retexture': True,
'empty_room': True,
'dataset': 'p5dScene'
},
'scene_filter': lambda s: s['nrooms'] == 2,
'episode_filter': lambda e: e['pathNumDoors'] > 0
}