From beae303394ff89a77ef180cb4e7f42af3e72d59a Mon Sep 17 00:00:00 2001
From: Oleksandr Maksymets <maksymets.o@gmail.com>
Date: Thu, 4 Apr 2019 10:35:07 -0700
Subject: [PATCH] Made simple agents suitable for challenge submissions (#35)
---
baselines/agents/.simple_agents.py.swp | Bin 0 -> 16384 bytes
baselines/agents/ppo_agents.py | 14 ++++++++++----
baselines/agents/simple_agents.py | 23 +++++++++--------------
test/test_baseline_agents.py | 2 +-
4 files changed, 20 insertions(+), 19 deletions(-)
create mode 100644 baselines/agents/.simple_agents.py.swp
diff --git a/baselines/agents/.simple_agents.py.swp b/baselines/agents/.simple_agents.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..400f785aeec06f7b3006cbf9b86ec73ac4b864ec
GIT binary patch
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diff --git a/baselines/agents/ppo_agents.py b/baselines/agents/ppo_agents.py
index 9a0080bed..db6ad957b 100644
--- a/baselines/agents/ppo_agents.py
+++ b/baselines/agents/ppo_agents.py
@@ -120,11 +120,14 @@ class PPOAgent(Agent):
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
- "--input_type",
+ "--input-type",
default="blind",
choices=["blind", "rgb", "depth", "rgbd"],
)
- parser.add_argument("--model_path", default="", type=str)
+ parser.add_argument("--model-path", default="", type=str)
+ parser.add_argument(
+ "--task-config", type=str, default="tasks/pointnav.yaml"
+ )
args = parser.parse_args()
config = get_defaut_config()
@@ -132,8 +135,11 @@ def main():
config.MODEL_PATH = args.model_path
agent = PPOAgent(config)
- challenge = habitat.Challenge()
- challenge.submit(agent)
+ benchmark = habitat.Benchmark(args.task_config)
+ metrics = benchmark.evaluate(agent)
+
+ for k, v in metrics.items():
+ habitat.logger.info("{}: {:.3f}".format(k, v))
if __name__ == "__main__":
diff --git a/baselines/agents/simple_agents.py b/baselines/agents/simple_agents.py
index 6e83cd0c9..8906b86f4 100644
--- a/baselines/agents/simple_agents.py
+++ b/baselines/agents/simple_agents.py
@@ -6,7 +6,6 @@
import argparse
-import random
from math import pi
import numpy as np
@@ -26,16 +25,12 @@ NON_STOP_ACTIONS = [
class RandomAgent(habitat.Agent):
- def __init__(self, config):
- self.dist_threshold_to_stop = config.TASK.SUCCESS_DISTANCE
+ def __init__(self, success_distance):
+ self.dist_threshold_to_stop = success_distance
def reset(self):
pass
- def act(self, observations):
- action = SIM_NAME_TO_ACTION[SimulatorActions.FORWARD.value]
- return action
-
def is_goal_reached(self, observations):
dist = observations["pointgoal"][0]
return dist <= self.dist_threshold_to_stop
@@ -58,9 +53,8 @@ class ForwardOnlyAgent(RandomAgent):
class RandomForwardAgent(RandomAgent):
- def __init__(self, config):
- super(RandomForwardAgent, self).__init__(config)
- self.dist_threshold_to_stop = config.TASK.SUCCESS_DISTANCE
+ def __init__(self, success_distance):
+ super().__init__(success_distance)
self.FORWARD_PROBABILITY = 0.8
def act(self, observations):
@@ -81,8 +75,8 @@ class RandomForwardAgent(RandomAgent):
class GoalFollower(RandomAgent):
- def __init__(self, config):
- super(GoalFollower, self).__init__(config)
+ def __init__(self, success_distance):
+ super().__init__(success_distance)
self.pos_th = self.dist_threshold_to_stop
self.angle_th = float(np.deg2rad(15))
self.random_prob = 0
@@ -135,14 +129,15 @@ def get_agent_cls(agent_class_name):
def main():
parser = argparse.ArgumentParser()
+ parser.add_argument("--success-distance", type=float, default=0.2)
parser.add_argument(
"--task-config", type=str, default="tasks/pointnav.yaml"
)
- parser.add_argument("--agent_class", type=str, default="GoalFollower")
+ parser.add_argument("--agent-class", type=str, default="GoalFollower")
args = parser.parse_args()
agent = get_agent_cls(args.agent_class)(
- habitat.get_config(args.task_config)
+ success_distance=args.success_distance
)
benchmark = habitat.Benchmark(args.task_config)
metrics = benchmark.evaluate(agent)
diff --git a/test/test_baseline_agents.py b/test/test_baseline_agents.py
index f849669e6..230e5949d 100644
--- a/test/test_baseline_agents.py
+++ b/test/test_baseline_agents.py
@@ -52,6 +52,6 @@ def test_simple_agents():
simple_agents.RandomAgent,
simple_agents.RandomForwardAgent,
]:
- agent = agent_class(config_env)
+ agent = agent_class(config_env.TASK.SUCCESS_DISTANCE)
habitat.logger.info(agent_class.__name__)
habitat.logger.info(benchmark.evaluate(agent, num_episodes=100))
--
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