-
Notifications
You must be signed in to change notification settings - Fork 1
/
config_eval.yaml
171 lines (148 loc) · 4 KB
/
config_eval.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
scene: igibson
scene_id: Rs_int
build_graph: true
load_texture: true
pybullet_load_texture: true
trav_map_type: no_obj
trav_map_resolution: 0.1
trav_map_erosion: 1
should_open_all_doors: false
# domain randomization
texture_randomization_freq: null
object_randomization_freq: null
# robotc
#collision_ignore_link_a_ids: [1, 2, 3, 4] # ignore collisions with these robot links FOR LOCOBOT
collision_ignore_link_a_ids: [0, 1, 2] # ignore collisions with these robot links FOR FETCH
#Locobot
#linear_velocity : 0.5
#angular_velocity: 1.0
#Fetch
angular_velocity: 2.0
linear_velocity: 1.0
robot:
name: Fetch
action_type: continuous
#action_normalize: true
scale: 0.85
self_collision: True
# task
task: point_nav_random
target_dist_min: 3.0
#3.5
target_dist_max: 12.0
goal_format: polar
task_obs_dim: 4
#indicates wether or not the observation space includes another entry for how many objects need to be explored
tar_objects: 6
replace_objects: false
num_cabinets: 3
num_door_colors: 4
num_cracker: 3
remove_doors: false
min_episodes: 25
history_length_aux: 16
initial_aux_prob: 1.0
#HRL TASK
cracker_cabin_mixed: true
#opencv show map
show_map: true
save_failed_eps: false
evaluate: true
softmax_annealing: false
corrected_discounting: true
once_opening: true
increment_env_steps: true
physically_simulated_openings: true
animate: false
add_frontier_exploration: true
invalid_action_masking: true
add_exploration_policy: true
exploration_policy_steps: 4 #put 20 for max evaluation
short_horizon_planning: false
normalize_hl_history: true
numb_hl_actions: 11.0
num_waypoints_cut: 20
reset_agent_pos: false
multiple_envs: false
resample_task: false
#use in policy to correct for ll-policy observation space, last color denoted the marked color for cabinet objects
cabinet_colors: [177,214,112,10]
#cabinet_marked: [200, 200, 200]
unknown_color: [95, 190, 45]
cracker_colors: [102,126,140]
category_found_color: [249, 192, 203]
fr_point: 159
fr_point_substitution: [255, 0, 0]
#[253, 253, 253]
grid_res: 0.033
#change from 0.2 (default) to 0.1 => waypoints no big jumps
waypoint_resolution: 0.1
num_waypoints: 15
#draw ground truth target on map
#target_on_map: false
#draw auxilliary prediction on map
aux_on_map: true
#-- a few mods --
sem_categories: 6
#using the ground truth already revealed map
#use_ground_truth: false
#use_seperate_map: false
use_aux_task: true
aux_loss_coeff: 0.06
#Global map size
global_map_size: 224
#substitute polar obs-space input with previous aux pred.
substitute_polar: true
#set the distance in obs-space to zero (to neglect the one)
set_polar_dist_zero: true
#set local polar coordinates to the next geodesic distance
polar_to_geodesic: true
#not using any polar coordinates in obs-space
not_polar: false
# reward
reward_type: geodesic
#
success_reward: 10.0
potential_reward_weight: 1.0
collision_reward_weight: -0.1
# discount factor
discount_factor: 0.99
# termination condition
#dist_tol: 1.45 # body width
dist_tol: 1.3 # body width
max_step: 1000
max_collisions_allowed: 600
#450
# misc config
initial_pos_z_offset: 0.1
initial_pos_z_offset_for_grasp: 0.1
collision_ignore_body_b_ids: [] # ignore collisions with these robot links FOR LOCOBOt
#collision_ignore_link_a_ids: [6,9,2,3] # ignore collisions with these robot links FOR HSR
#collision_ignore_body_b_ids: [2,3,1] # ignore collisions with these robot links FOR HSR
#266, 267,268,269,270,271,272,273,274,275,276,277,278,279,280,281,282,283,284,285] # ignore collisions with these robot links
# sensor spec
#output: [task_obs, depth, seg]
# image
# ASUS Xtion PRO LIVE
# https://www.asus.com/us/3D-Sensor/Xtion_PRO_LIVE
fisheye: false
image_width: 512
#160
image_height: 512
#120
vertical_fov: 79.0
#45.0
# depth
depth_low: 0.05
#0.005
depth_high: 5.6
# sensor noise
depth_noise_rate: 0.0
scan_noise_rate: 0.0
load_object_categories: [shelf, door, sofa, sink, table, window]
#[shelf,sofa,sink,table]
#
# visual objects
visual_object_at_initial_target_pos: true
target_visual_object_visible_to_agent: false
frontier_selection: fabian # fabian / geometric_util