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",
)