configs/reconstruction_exploration/mp3d_test_config.yaml [1:48]:
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ENVIRONMENT:
  MAX_EPISODE_STEPS: 1001
SIMULATOR:
  TYPE: "Sim-v1"
  AGENT_0:
    SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'FINE_OCC_SENSOR', 'COARSE_OCC_SENSOR']
  ACTION_SPACE_CONFIG: "v2"
  HABITAT_SIM_V0:
    GPU_DEVICE_ID: 0
  RGB_SENSOR:
    WIDTH: 84
    HEIGHT: 84
  DEPTH_SENSOR:
    WIDTH: 84
    HEIGHT: 84
  OCCUPANCY_MAPS:
    MAP_SCALE: 0.1
    MAP_SIZE: 800
    MAX_DEPTH: 3
    SMALL_MAP_RANGE: 20
    LARGE_MAP_RANGE: 100
    HEIGHT_LOWER: 0.2
    HEIGHT_UPPER: 1.5
  FINE_OCC_SENSOR:
    WIDTH: 84
    HEIGHT: 84
  COARSE_OCC_SENSOR:
    WIDTH: 84
    HEIGHT: 84
  OBJECT_ANNOTATIONS:
    IS_AVAILABLE: True
    PATH: 'environments/habitat/habitat-api/data/object_annotations/mp3d'
TASK:
  TYPE: Pose-v0
  SENSORS: ['DELTA_SENSOR', 'COLLISION_SENSOR', 'POSE_RGB_SENSOR', 'POSE_REGRESS_SENSOR', 'POSE_MASK_SENSOR', 'ORACLE_ACTION_SENSOR']
  POSE_RGB_SENSOR:
    NREF: 100
  POSE_REGRESS_SENSOR:
    NREF: 100
  POSE_MASK_SENSOR:
    NREF: 100
  ORACLE_ACTION_SENSOR:
    ORACLE_TYPE: 'random'
  MEASUREMENTS: ['AREA_COVERED', 'TOP_DOWN_MAP_POSE', 'OPSR', 'OBJECTS_COVERED_GEOMETRIC']
  TOP_DOWN_MAP_POSE:
    TYPE: TopDownMapPose
DATASET:
  TYPE: PoseEstimation-v1
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configs/reconstruction_exploration/mp3d_val_config.yaml [1:48]:
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ENVIRONMENT:
  MAX_EPISODE_STEPS: 1001
SIMULATOR:
  TYPE: "Sim-v1"
  AGENT_0:
    SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'FINE_OCC_SENSOR', 'COARSE_OCC_SENSOR']
  ACTION_SPACE_CONFIG: "v2"
  HABITAT_SIM_V0:
    GPU_DEVICE_ID: 0
  RGB_SENSOR:
    WIDTH: 84
    HEIGHT: 84
  DEPTH_SENSOR:
    WIDTH: 84
    HEIGHT: 84
  OCCUPANCY_MAPS:
    MAP_SCALE: 0.1
    MAP_SIZE: 800
    MAX_DEPTH: 3
    SMALL_MAP_RANGE: 20
    LARGE_MAP_RANGE: 100
    HEIGHT_LOWER: 0.2
    HEIGHT_UPPER: 1.5
  FINE_OCC_SENSOR:
    WIDTH: 84
    HEIGHT: 84
  COARSE_OCC_SENSOR:
    WIDTH: 84
    HEIGHT: 84
  OBJECT_ANNOTATIONS:
    IS_AVAILABLE: True
    PATH: 'environments/habitat/habitat-api/data/object_annotations/mp3d'
TASK:
  TYPE: Pose-v0
  SENSORS: ['DELTA_SENSOR', 'COLLISION_SENSOR', 'POSE_RGB_SENSOR', 'POSE_REGRESS_SENSOR', 'POSE_MASK_SENSOR', 'ORACLE_ACTION_SENSOR']
  POSE_RGB_SENSOR:
    NREF: 100
  POSE_REGRESS_SENSOR:
    NREF: 100
  POSE_MASK_SENSOR:
    NREF: 100
  ORACLE_ACTION_SENSOR:
    ORACLE_TYPE: 'random'
  MEASUREMENTS: ['AREA_COVERED', 'TOP_DOWN_MAP_POSE', 'OPSR', 'OBJECTS_COVERED_GEOMETRIC']
  TOP_DOWN_MAP_POSE:
    TYPE: TopDownMapPose
DATASET:
  TYPE: PoseEstimation-v1
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