evaluate_pose_estimation.py [67:111]:
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    args.requires_policy = args.actor_type not in [
        "random",
        "oracle",
        "forward",
        "forward-plus",
        "frontier",
    ]
    if "habitat" in args.env_name:
        if "CUDA_VISIBLE_DEVICES" in os.environ:
            devices = [
                int(dev) for dev in os.environ["CUDA_VISIBLE_DEVICES"].split(",")
            ]
            # Devices need to be indexed between 0 to N-1
            devices = [dev for dev in range(len(devices))]
        else:
            devices = None
        eval_envs = make_vec_envs_habitat(
            args.habitat_config_file,
            device,
            devices,
            enable_odometry_noise=args.enable_odometry_noise,
            odometer_noise_scaling=args.odometer_noise_scaling,
            measure_noise_free_area=args.measure_noise_free_area,
        )
        if args.actor_type == "frontier":
            large_map_range = 100.0
            H = eval_envs.observation_space.spaces["highres_coarse_occupancy"].shape[1]
            args.occ_map_scale = 0.1 * (2 * large_map_range + 1) / H
    else:
        eval_envs = make_vec_envs_avd(
            args.env_name,
            123 + args.num_processes,
            args.num_processes,
            eval_log_dir,
            device,
            True,
            split=args.eval_split,
            nRef=args.num_pose_refs,
            set_return_topdown_map=True,
        )
        if args.actor_type == "frontier":
            large_map_range = 100.0
            H = eval_envs.observation_space.spaces["highres_coarse_occupancy"].shape[0]
            args.occ_map_scale = 50.0 * (2 * large_map_range + 1) / H
    args.obs_shape = eval_envs.observation_space.spaces["im"].shape
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evaluate_visitation.py [51:95]:
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    args.requires_policy = args.actor_type not in [
        "random",
        "oracle",
        "forward",
        "forward-plus",
        "frontier",
    ]
    if "habitat" in args.env_name:
        if "CUDA_VISIBLE_DEVICES" in os.environ:
            devices = [
                int(dev) for dev in os.environ["CUDA_VISIBLE_DEVICES"].split(",")
            ]
            # Devices need to be indexed between 0 to N-1
            devices = [dev for dev in range(len(devices))]
        else:
            devices = None
        eval_envs = make_vec_envs_habitat(
            args.habitat_config_file,
            device,
            devices,
            enable_odometry_noise=args.enable_odometry_noise,
            odometer_noise_scaling=args.odometer_noise_scaling,
            measure_noise_free_area=args.measure_noise_free_area,
        )
        if args.actor_type == "frontier":
            large_map_range = 100.0
            H = eval_envs.observation_space.spaces["highres_coarse_occupancy"].shape[1]
            args.occ_map_scale = 0.1 * (2 * large_map_range + 1) / H
    else:
        eval_envs = make_vec_envs_avd(
            args.env_name,
            123 + args.num_processes,
            args.num_processes,
            eval_log_dir,
            device,
            True,
            split=args.eval_split,
            nRef=args.num_pose_refs,
            set_return_topdown_map=True,
        )
        if args.actor_type == "frontier":
            large_map_range = 100.0
            H = eval_envs.observation_space.spaces["highres_coarse_occupancy"].shape[0]
            args.occ_map_scale = 50.0 * (2 * large_map_range + 1) / H
    args.obs_shape = eval_envs.observation_space.spaces["im"].shape
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