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config_train.yaml
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config_train.yaml
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# scene
scene: igibson
scene_id: Pomaria_2_int
build_graph: true
load_texture: true
pybullet_load_texture: true
trav_map_type: no_obj
trav_map_resolution: 0.1
#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
tar_objects: 6
replace_objects: true
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: false
save_failed_eps: false
evaluate: false
softmax_annealing: false
corrected_discounting: false
once_opening: true
increment_env_steps: false
physically_simulated_openings: false
animate: false
add_frontier_exploration: false
invalid_action_masking: true
add_exploration_policy: true
exploration_policy_steps: 4
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: true
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
waypoint_resolution: 0.1
num_waypoints: 15
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: 2000
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: 128
#160
image_height: 128
#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