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1-wpn-cc.yaml
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1-wpn-cc.yaml
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BASE_TASK_CONFIG_PATH: habitat_extensions/config/vlnce_waypoint_task.yaml
TRAINER_NAME: ddppo-waypoint
ENV_NAME: VLNCEWaypointEnv
SIMULATOR_GPU_IDS: [0]
TORCH_GPU_ID: 0
NUM_ENVIRONMENTS: 4
TENSORBOARD_DIR: data/tensorboard_dirs/wpn_cc
CHECKPOINT_FOLDER: data/checkpoints/wpn_cc
EVAL_CKPT_PATH_DIR: data/checkpoints/wpn_cc
RL:
POLICY:
OBS_TRANSFORMS:
ENABLED_TRANSFORMS: [ObsStack]
MODEL:
policy_name: WaypointPolicy
WAYPOINT:
min_offset_var: 0.00030625 # stddev of 1 degree
max_offset_var: 0.06853892 # stddev of (range / 2)
offset_temperature: 4.0
min_distance_var: 0.01 # a stddev of 0.10m
max_distance_var: 3.516 # a stddev of (range / 2)
max_distance_prediction: 4.0
min_distance_prediction: 0.25
INSTRUCTION_ENCODER:
bidirectional: True
final_state_only: False
RGB_ENCODER:
cnn_type: TorchVisionResNet18
output_size: 128
STATE_ENCODER:
hidden_size: 256