Commit 85db0506 authored by jameskrw's avatar jameskrw Committed by YaningGao
Browse files

updated navigation

parent 284ee0a0

scripts/exps/format/navigation/freethink/env_config.yaml

+11 −0
Original line number Diff line number Diff line
@@ -4,5 +4,16 @@ env1: 
        render_mode: vision

        prompt_format: free_think

        use_accuracy_reward: false

        eval_set: base

    train_size: 10000  

    test_size: 64



env2:

    env_name: navigation  

    env_config:

        render_mode: vision

        prompt_format: free_think

        use_accuracy_reward: false

        eval_set: common

    train_size: 10000  

    test_size: 64
 
 No newline at end of file

scripts/exps/format/navigation/freethink/run.sh

+1 −1
Original line number Diff line number Diff line
@@ -79,7 +79,7 @@ python3 -m vagen.trainer.main_ppo \ 
    rollout_manager.use_loss_mask=True \

    rollout_manager.use_gae_mask=True \

    trainer.val_before_train=True \

    trainer.val_generations_to_log_to_wandb=4 \

    trainer.val_generations_to_log_to_wandb=8 \

    rollout_manager.n_trajectory=1 \

    rollout_manager.use_service=True \

    rollout_manager.timeout=240 \

vagen/env/navigation/env.py

+1 −1
Original line number Diff line number Diff line
@@ -12,7 +12,7 @@ from .prompt import system_prompt,init_observation_template, action_template, fo 


class NavigationEnv(BaseEnv):

    """Navigation environment from embodied bench. """   

    SUCCESS_THRESHOLD = 2

    SUCCESS_THRESHOLD = 1.5



    ValidEvalSets = [

        'base', 'common_sense', 'complex_instruction', 'visual_appearance', 'long_horizon'

vagen/env/navigation/env_config.py

+1 −3
Original line number Diff line number Diff line
@@ -6,7 +6,6 @@ class NavigationEnvConfig(BaseEnvConfig): 
    """Configuration class for the Navigation environment."""

    resolution: int = 300

    eval_set: str = 'base'

    exp_name: str = 'test_base'

    down_sample_ratio: float = 1.0

    fov: int = 100

    multiview: bool = False
@@ -21,8 +20,7 @@ class NavigationEnvConfig(BaseEnvConfig): 


    def config_id(self) -> str:

        """Generate a unique identifier for this configuration."""

        id_fields = ["resolution", "eval_set", "exp_name", "down_sample_ratio", 

                    "fov", "multiview", "render_mode", "max_actions_per_step"]

        id_fields = [ "eval_set","render_mode", "max_actions_per_step"]

        id_str = ",".join([f"{field.name}={getattr(self, field.name)}" for field in fields(self) if field.name in id_fields])

        return f"NavigationEnvConfig({id_str})"

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