From 6c2203fd7802be2eb5ca773854a2637a9594f7b4 Mon Sep 17 00:00:00 2001
From: Naoki Yokoyama <nyokoyama@theaiinstitute.com>
Date: Thu, 7 Sep 2023 13:55:33 -0400
Subject: [PATCH] adding files from SemExp repo

---
 zsos/semexp_env/eval.py                 | 44 +++++++++++++++++++++++++
 zsos/semexp_env/objnav_gibson_zsos.yaml | 44 +++++++++++++++++++++++++
 2 files changed, 88 insertions(+)
 create mode 100644 zsos/semexp_env/eval.py
 create mode 100644 zsos/semexp_env/objnav_gibson_zsos.yaml

diff --git a/zsos/semexp_env/eval.py b/zsos/semexp_env/eval.py
new file mode 100644
index 0000000..178f49e
--- /dev/null
+++ b/zsos/semexp_env/eval.py
@@ -0,0 +1,44 @@
+import os
+
+import numpy as np
+import torch
+from arguments import get_args
+from envs import make_vec_envs
+
+os.environ["OMP_NUM_THREADS"] = "1"
+
+args = get_args()
+args.agent = "zsos"  # Doesn't really matter as long as it's not "sem_exp"
+args.split = "val"
+
+np.random.seed(args.seed)
+torch.manual_seed(args.seed)
+
+if args.cuda:
+    torch.cuda.manual_seed(args.seed)
+
+
+def main():
+    num_episodes = int(args.num_eval_episodes)
+    args.device = torch.device("cuda:0" if args.cuda else "cpu")
+
+    torch.set_num_threads(1)
+    envs = make_vec_envs(args)
+    obs, infos = envs.reset()
+    print(obs, infos)
+
+    for ep_num in range(num_episodes):
+        for step in range(args.max_episode_length):
+            action = torch.randint(1, 3, (args.num_processes,))
+            obs, rew, done, infos = envs.step(action)
+            print(obs.shape)
+            print(obs.device)
+
+            if done:
+                break
+
+    print("Test successfully completed")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/zsos/semexp_env/objnav_gibson_zsos.yaml b/zsos/semexp_env/objnav_gibson_zsos.yaml
new file mode 100644
index 0000000..eadfeeb
--- /dev/null
+++ b/zsos/semexp_env/objnav_gibson_zsos.yaml
@@ -0,0 +1,44 @@
+ENVIRONMENT:
+  MAX_EPISODE_STEPS: 500
+SIMULATOR:
+  TURN_ANGLE: 30
+  TILT_ANGLE: 30
+  ACTION_SPACE_CONFIG: "v1"
+  AGENT_0:
+    SENSORS: ['RGB_SENSOR', 'DEPTH_SENSOR', 'SEMANTIC_SENSOR']
+    HEIGHT: 0.88
+    RADIUS: 0.18
+  HABITAT_SIM_V0:
+    GPU_DEVICE_ID: 0
+    ALLOW_SLIDING: True
+  SEMANTIC_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    POSITION: [0, 0.88, 0]
+  RGB_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    POSITION: [0, 0.88, 0]
+  DEPTH_SENSOR:
+    WIDTH: 640
+    HEIGHT: 480
+    HFOV: 79
+    MIN_DEPTH: 0.5
+    MAX_DEPTH: 5.0
+    POSITION: [0, 0.88, 0]
+TASK:
+  TYPE: ObjectNav-v1
+  POSSIBLE_ACTIONS: ["STOP", "MOVE_FORWARD", "TURN_LEFT", "TURN_RIGHT", "LOOK_UP", "LOOK_DOWN"]
+  SENSORS: ['GPS_SENSOR', 'COMPASS_SENSOR']
+  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SUCCESS', 'SPL']
+  SUCCESS:
+    SUCCESS_DISTANCE: 0.2
+
+DATASET:
+  TYPE: PointNav-v1
+  SPLIT: train
+  DATA_PATH: "data/datasets/objectnav/gibson/v1/{split}/{split}.json.gz"
+  EPISODES_DIR: "data/datasets/objectnav/gibson/v1/{split}/"
+  SCENES_DIR: "data/scene_datasets/"