configs/challenge_pointnav2021.local.rgbd.yaml [32:54]:
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    NOISE_MODEL: "RedwoodDepthNoiseModel"

  ACTION_SPACE_CONFIG: 'pyrobotnoisy'
  NOISE_MODEL:
    ROBOT: "LoCoBot"
    CONTROLLER: 'Proportional'
    NOISE_MULTIPLIER: 0.5

TASK:
  TYPE: Nav-v0
  SUCCESS_DISTANCE: 0.36 # 2 x Agent Radius
  SENSORS: ['POINTGOAL_SENSOR']
  POINTGOAL_SENSOR:
    GOAL_FORMAT: POLAR
    DIMENSIONALITY: 2
  GOAL_SENSOR_UUID: pointgoal
  MEASUREMENTS: ['DISTANCE_TO_GOAL', "SUCCESS", 'SPL', 'SOFT_SPL']
  SUCCESS:
    SUCCESS_DISTANCE: 0.36 # 2 x Agent Radius

DATASET:
  TYPE: PointNav-v1
  SPLIT: val_mini
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configs/challenge_pointnav2021.local.rgbd_test_scene.yaml [30:52]:
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    NOISE_MODEL: "RedwoodDepthNoiseModel"

  ACTION_SPACE_CONFIG: 'pyrobotnoisy'
  NOISE_MODEL:
    ROBOT: "LoCoBot"
    CONTROLLER: 'Proportional'
    NOISE_MULTIPLIER: 0.5

TASK:
  TYPE: Nav-v0
  SUCCESS_DISTANCE: 0.36 # 2 x Agent Radius
  SENSORS: ['POINTGOAL_SENSOR']
  POINTGOAL_SENSOR:
    GOAL_FORMAT: POLAR
    DIMENSIONALITY: 2
  GOAL_SENSOR_UUID: pointgoal
  MEASUREMENTS: ['DISTANCE_TO_GOAL', "SUCCESS", 'SPL', 'SOFT_SPL']
  SUCCESS:
    SUCCESS_DISTANCE: 0.36 # 2 x Agent Radius

DATASET:
  TYPE: PointNav-v1
  SPLIT: val_mini
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