habitat_baselines/config/imagenav/ddppo_imagenav_example.yaml [20:50]:
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FORCE_TORCH_SINGLE_THREADED: True


RL:
  SUCCESS_REWARD: 2.5
  SLACK_REWARD: -1e-4

  POLICY:
    name: "PointNavResNetPolicy"

  PPO:
    # ppo params
    clip_param: 0.2
    ppo_epoch: 2
    num_mini_batch: 2
    value_loss_coef: 0.5
    entropy_coef: 0.01
    lr: 2.5e-4
    eps: 1e-5
    max_grad_norm: 0.2
    num_steps: 64
    use_gae: True
    gamma: 0.99
    tau: 0.95
    use_linear_clip_decay: False
    use_linear_lr_decay: False
    reward_window_size: 50

    use_normalized_advantage: False

    hidden_size: 512
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habitat_baselines/config/imagenav/ddppo_imagenav_gibson.yaml [21:50]:
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FORCE_TORCH_SINGLE_THREADED: True

RL:
  SUCCESS_REWARD: 2.5
  SLACK_REWARD: -1e-4

  POLICY:
    name: "PointNavResNetPolicy"

  PPO:
    # ppo params
    clip_param: 0.2
    ppo_epoch: 2
    num_mini_batch: 2
    value_loss_coef: 0.5
    entropy_coef: 0.01
    lr: 2.5e-4
    eps: 1e-5
    max_grad_norm: 0.2
    num_steps: 64
    use_gae: True
    gamma: 0.99
    tau: 0.95
    use_linear_clip_decay: False
    use_linear_lr_decay: False
    reward_window_size: 50

    use_normalized_advantage: False

    hidden_size: 512
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