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facebookresearch / habitat-challenge

Code for the habitat challenge
https://aihabitat.org
MIT License
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Waypoint controller #160

Closed morpheus1820 closed 1 year ago

morpheus1820 commented 1 year ago

Hi, I cannot understand how to use the waypoint controller (or whether it is implemented yet). Is there an example on how to use it?

ykarmesh commented 1 year ago

Hey @morpheus1820, the waypoint controller is implemented here. To use the waypoint controller, you need to change the action space of the agent here to waypoint_controller. The waypoint_controller config is defined here. Note: the waypoint controller uses a continuous action space so we need to let the policy know that it should be predicting continuous action outputs by passing the following argument during training and evaluation:

habitat_baselines.rl.policy.action_distribution_type=categorical
morpheus1820 commented 1 year ago

Thank you, that solves it!