run_CMA.yaml

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-CMA
GPU_NUMBERS: 1
NUM_ENVIRONMENTS: 1
TENSORBOARD_DIR: logs/tensorboard_dirs/
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

IL:
  epochs: 50
  batch_size: 16
  schedule_ratio: 0.75
  decay_time: 10
  max_traj_len: 20

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