Merge pull request #31 from facebookresearch/fix_occant_ground_truth

Fix training and evaluation for occant ground truth
facebookresearch · Jul 1, 2021 · aea6a2c · aea6a2c
2 parents 073651b + 1f2af0c
commit aea6a2c
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Showing 4 changed files with 20 additions and 4 deletions.
diff --git a/configs/exploration/gibson_evaluate_noise_free.yaml b/configs/exploration/gibson_evaluate_noise_free.yaml
@@ -21,7 +21,7 @@ SIMULATOR:
 TASK:
   TYPE: Exp-v0
   POSSIBLE_ACTIONS: ["MOVE_FORWARD", "TURN_LEFT", "TURN_RIGHT"]
-  SENSORS: ['NOISY_POSE_SENSOR', 'GT_POSE_SENSOR', 'COLLISION_SENSOR']
+  SENSORS: ['NOISE_FREE_POSE_SENSOR', 'GT_POSE_SENSOR', 'COLLISION_SENSOR']
   MEASUREMENTS: ['GT_GLOBAL_MAP', 'TOP_DOWN_MAP_EXP']
   GT_GLOBAL_MAP:
     MAP_SIZE: 961

diff --git a/configs/exploration/mp3d_evaluate_noise_free.yaml b/configs/exploration/mp3d_evaluate_noise_free.yaml
@@ -21,7 +21,7 @@ SIMULATOR:
 TASK:
   TYPE: Exp-v0
   POSSIBLE_ACTIONS: ["MOVE_FORWARD", "TURN_LEFT", "TURN_RIGHT"]
-  SENSORS: ['NOISY_POSE_SENSOR', 'GT_POSE_SENSOR', 'COLLISION_SENSOR']
+  SENSORS: ['NOISE_FREE_POSE_SENSOR', 'GT_POSE_SENSOR', 'COLLISION_SENSOR']
   MEASUREMENTS: ['GT_GLOBAL_MAP', 'TOP_DOWN_MAP_EXP']
   GT_GLOBAL_MAP:
     MAP_SIZE: 2001

diff --git a/occant_baselines/rl/occant_exp_trainer.py b/occant_baselines/rl/occant_exp_trainer.py
@@ -150,6 +150,11 @@ def _synchronize_configs(self, config):
             config.TASK_CONFIG.TASK.GT_GLOBAL_MAP.MAP_SCALE = (
                 config.RL.ANS.MAPPER.map_scale
             )
+        # Enable GT anticipation sensor for baseline evaluation
+        if config.RL.ANS.OCCUPANCY_ANTICIPATOR.type == "occant_ground_truth":
+            if 'GT_EGO_MAP_ANTICIPATED' not in config.TASK_CONFIG.TASK.SENSORS:
+                config.TASK_CONFIG.TASK.SENSORS.append('GT_EGO_MAP_ANTICIPATED')
+
         config.freeze()
 
     def _setup_actor_critic_agent(self, ppo_cfg: Config, ans_cfg: Config) -> None:
@@ -338,7 +343,7 @@ def _create_mapper_rollout_inputs(
             "ego_map_gt_anticipated_at_t": batch["ego_map_gt_anticipated"],
             "action_at_t_1": batch["prev_actions"],
         }
-        if ans_cfg.OCCUPANCY_ANTICIPATOR.type == "baseline_gt_anticipation":
+        if ans_cfg.OCCUPANCY_ANTICIPATOR.type == "occant_ground_truth":
             mapper_rollout_inputs["ego_map_gt_anticipated_at_t_1"] = prev_batch[
                 "ego_map_gt_anticipated"
             ]
@@ -806,7 +811,7 @@ def _create_mapper_rollouts(self, ppo_cfg, ans_cfg):
             ],
             "action_at_t_1": spaces.Box(low=0, high=4, shape=(1,), dtype=np.int32),
         }
-        if ans_cfg.OCCUPANCY_ANTICIPATOR.type == "baseline_gt_anticipation":
+        if ans_cfg.OCCUPANCY_ANTICIPATOR.type == "occant_ground_truth":
             mapper_observation_space[
                 "ego_map_gt_anticipated_at_t_1"
             ] = self.envs.observation_spaces[0].spaces["ego_map_gt_anticipated"]

diff --git a/occant_baselines/rl/occant_nav_trainer.py b/occant_baselines/rl/occant_nav_trainer.py
@@ -95,6 +95,12 @@ def _synchronize_configs(self, config):
         ego_proj_config.camera_height = camera_height
         ego_proj_config.height_thresholds = height_thresholds
         config.RL.ANS.OCCUPANCY_ANTICIPATOR.EGO_PROJECTION = ego_proj_config
+        # Set the GT anticipation options
+        wall_fov = config.RL.ANS.OCCUPANCY_ANTICIPATOR.GP_ANTICIPATION.wall_fov
+        config.TASK_CONFIG.TASK.GT_EGO_MAP_ANTICIPATED.WALL_FOV = wall_fov
+        config.TASK_CONFIG.TASK.GT_EGO_MAP_ANTICIPATED.MAP_SIZE = map_size
+        config.TASK_CONFIG.TASK.GT_EGO_MAP_ANTICIPATED.MAP_SCALE = map_scale
+        config.TASK_CONFIG.TASK.GT_EGO_MAP_ANTICIPATED.MAX_SENSOR_RANGE = -1
         # Set the correct image scaling values
         config.RL.ANS.MAPPER.image_scale_hw = config.RL.ANS.image_scale_hw
         config.RL.ANS.LOCAL_POLICY.image_scale_hw = config.RL.ANS.image_scale_hw
@@ -105,6 +111,11 @@ def _synchronize_configs(self, config):
         config.RL.ANS.LOCAL_POLICY.AGENT_DYNAMICS.turn_angle = (
             config.TASK_CONFIG.SIMULATOR.TURN_ANGLE
         )
+        # Enable GT anticipation sensor for baseline evaluation
+        if config.RL.ANS.OCCUPANCY_ANTICIPATOR.type == "occant_ground_truth":
+            if 'GT_EGO_MAP_ANTICIPATED' not in config.TASK_CONFIG.TASK.SENSORS:
+                config.TASK_CONFIG.TASK.SENSORS.append('GT_EGO_MAP_ANTICIPATED')
+
         config.freeze()
 
     def _setup_actor_critic_agent(self, ppo_cfg: Config, ans_cfg: Config) -> None: