Pushreachtask#133

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le-horizon wants to merge 54 commits intomasterfrom

Commits on Jul 30, 2020

allow order objects by position in view, reposition camera, narrower camera view angle for pioneer2dx_noplugin
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field of view back to 120 degrees
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add agent's absolute position and pose into observation
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non-egocentric full state observation for GoalTask
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goal conditioned GoalTask and PlayGround env, with -1/0 reward
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simplify
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fix after rebase
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Commits on Aug 1, 2020

plot goal range in tensorboard
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Commits on Aug 3, 2020

add comments for goal conditioned task
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Commits on Aug 13, 2020

properly return random_range always, to report goal_range metric (episodic mean)
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Commits on Aug 14, 2020

fix goal_range reporting to only report it once at episode end
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Commits on Aug 25, 2020

terminate gzclient at env close(), fix bug where direction not ignored when flag says to ignore goal direction
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Commits on Aug 27, 2020

address comments
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Commits on Aug 28, 2020

make "human" rendering consistent with "rgb_array" - video recording
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Commits on Sep 4, 2020

use aux achieved field in goal conditioned GoalTask.
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add the option to only plan x-y related dimensions in aux_achieved
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Commits on Sep 9, 2020

Commits on Sep 10, 2020

fix missing distraction penalty
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address comments from JT
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missed one fix
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Commits on Sep 15, 2020

address comments, move goal_conditioned obs generation to GoalTask
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use more readable states to generate goal conditioned output
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Commits on Sep 16, 2020

address comments from JT.
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Commits on Sep 17, 2020

remove unused var use_full_states
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Commits on Oct 5, 2020

random agent start position in GoalTask. Fix initial_dist and prev_dist inaccurate due to distraction objects also counted in.
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Commits on Oct 31, 2020

more debug printing of agent states at episode end
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Commits on Nov 6, 2020

add short walls to enclose playground
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Commits on Nov 11, 2020

allow chaining goaltask together with probability, also avoids resetting goals too close to distractions.
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Commits on Jan 13, 2021

allow setting min_distance of goal to agent's location, so now goal range is uniformly random within random_range (max) and the min.
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Commits on Jan 21, 2021

allow using speed_goal (besides position goal) in GoalTask.
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Commits on Jan 26, 2021

allow setting speed limit in speed goal task, refactor
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Commits on Apr 7, 2021

more debug info for goal task to output states when reward achieved.
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Commits on May 17, 2021

add PushReachTask
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Commits on May 26, 2021

fix goal dist output bug
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Merge branch 'focused_explore' into pushreachtask
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Commits on Jun 8, 2021

allow obj to be initialized closer to the agent
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update some doc
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Commits on Jun 15, 2021

allow using obj pose, move obj at least 0.3 away from agent.
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Commits on Jun 19, 2021

allow moving target relative to object position, vs agent
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Commits on Aug 12, 2021

allow turn off multi dim reward in push task; more debug printing.
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Commits on Aug 16, 2021

proper seeding of envs for deterministic randomization
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Commits on Sep 21, 2021

mode with Push and Reach goals in a single PushReachTask.
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Commits on Apr 28, 2022

update Pioneer tasks (target navigation, push reach) to alf config
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depend on alf for alf.config
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update alf image
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Commits on Apr 29, 2022

Revert "update alf image"
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Revert "depend on alf for alf.config"
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Revert "update Pioneer tasks (target navigation, push reach) to alf config"
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Commits on Oct 5, 2022

pose only goal for goal task
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Commits on Oct 6, 2022

adding ghost pioneer car to indicate goal position and orientation in GoalTask
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Commits on Oct 7, 2022

allow additionally including x-y speed and yaw (together with x-y position) into goal in GoalTask.
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Commits on Oct 11, 2022

goal conditioned dense reward for goal task
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Commits on Oct 12, 2022

allow position and speed goal multiplier in GoalTask to be roughly at the same scale as yaw. It effectively reduces the goal threshold, making the goals harder to achieve.
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