config_skilltron.yaml

task:
  #config: '/root/configs/tasks/objectnav_hm3d_new.yaml'
  config: '/root/configs/benchmark/nav/objectnav/objectnav_v2_hm3d_stretch_challenge.yaml'
  #eval_episodes: [3, 4, 5, 7, 99, 100, 101, 102, 103, 104, 106, 107, 198, 199, 200, 202, 203, 204, 205, 206, 297, 299, 300, 301, 303, 304, 305, 396, 397, 398, 399, 401, 402, 403, 495, 496, 497, 498, 499, 501, 503, 594, 595, 596, 597, 598, 599, 600, 602, 693, 694, 696, 697, 698, 700, 701, 792, 793, 794, 795, 797, 798, 799, 800, 891, 894, 895, 896, 899, 990, 991, 992, 994, 996, 997, 998]
  eval_episodes: [0, 5, 10, 28, 33, 38, 56, 61, 66, 84, 89, 94, 112, 117, 122, 140, 145, 150, 168, 173, 178, 196, 201, 206, 224, 229, 234, 252, 257, 262, 280, 285, 290, 308, 313, 318, 336, 341, 346, 364, 369, 374, 392, 397, 402, 420, 425, 430, 447, 452, 457, 475, 480, 485, 503, 508, 513, 531, 536, 541, 559, 564, 569, 587, 592, 597, 615, 620, 625, 643, 648, 653, 671, 676, 681, 699, 704, 709, 727, 732, 737, 755, 760, 765, 783, 788, 793, 810, 815, 820, 838, 843, 848, 866, 871, 876, 894, 899, 904, 922, 927, 932, 950, 955, 960, 978, 983, 988]
  #eval_episodes: [112]
  finish_radius: 0.84
  top_down_map_save_path: 'top_down_maps_skilltron'
  last_pic_save_path: 'top_down_maps_skilltron/rgb'
semantic:
  model: 'BlendMask'
  confidence_threshold: 0.3
mapper:
  map_size_cm: 4200
  vision_range: 3.2
  semantic_vision_range: 4.5
  map_resolution_cm: 7
  obstacle_inflation: 3
  semantic_inflation: 2
  semantic_threshold: 1
  semantic_decay: 0.9
exploration:
  type: 'poni'
  potential_scale: 1.0
  orientation_scale: 1.0
  gain_scale: 2.0
  min_frontier_size: 0.15
  timeout: 40
  gr_timeout: 20
path_planner:
  type: 'a_star'
  frequency: 2
  agent_radius: 0.2
  reach_radius: 0.8
  allow_diagonal: False
path_follower:
  type: 'greedy'
  goal_radius: 0.2
  max_d_angle: 0.4
semantic_predictor:
  config_path: 'weights/segmatron_1_step.yaml'
  weights: 'weights/segmatron_1_step.pt'
  delayed: False
visualization:
  visualize: False
  rgb_topic: '/habitat/rgb/image'
  depth_topic: '/habitat/depth/image'
  true_pose_topic: '/true_pose'
  goal_topic: '/exploration_goal'
  frontier_topic: '/explore/frontiers'
  path_topic: '/path'
  map_topic: '/habitat/map'
  semantic_map_topic: '/habitat/semantic_map'
  
args:
  split: 'val'
  total_num_scenes: 1
  pf_model_path: '/home/AI/yudin.da/zemskova_ts/skill-fusion/root/PONI/pretrained_models/gibson_models/poni_seed_234.ckpt'
  eval: 1
  global_downscaling: 1
  min_depth: 0.5
  max_depth: 5.0
  add_agent2loc_distance: False
  map_size_cm: 2400
  frame_height: 640
  frame_width: 480
  hfov: 42
  camera_height: 1.31
  erosion_size: 2
  goal_decay: 0.9