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BASE_TASK_CONFIG_PATH: habitat_extensions/config/vlnce_task.yaml

SIMULATOR_GPU_IDS: [0]

TORCH_GPU_ID: 0

TORCH_GPU_IDS: [0]

TRAINER_NAME: schedulesampler-OPENNAV

GPU_NUMBERS: 1

NUM_ENVIRONMENTS: 1

CHECKPOINT_FOLDER: logs/checkpoints/

EVAL_CKPT_PATH_DIR: logs/checkpoints/

RESULTS_DIR: logs/eval_results/

EVAL:

USE_CKPT_CONFIG: False

SPLIT: val_unseen

EPISODE_COUNT: -1

MODEL:

policy_name: PolicyViewSelectionCMA

spatial_output: False

RGB_ENCODER:

encode_size: 2048

output_size: 512

DEPTH_ENCODER:

encode_size: 128

output_size: 256

ddppo_checkpoint: data/pretrained_models/ddppo-models/gibson-2plus-resnet50.pth

VISUAL_DIM:

vis_hidden: 512

directional: 64

INSTRUCTION_ENCODER:

bidirectional: True

use_pretrained_embeddings: False

embedding_size: 256

hidden_size: 256