ajzhai

That's right, it always uses the prediction. We thought that it might be interesting to switch between the two policies, but we found it doesn't really help. Maybe it is...

Hmm it should not stop. Can you show the error message?

Oh that's a normal failure case, it will happen if there is a false positive detection and the agent calls "stop" as it thinks it reached the target.

Currently it is set that way, but maybe that is actually a mistake -- if you try 960 during inference, let me know what happens! It is better to predict...

I believe only very few episodes need the agent to go outside of the 720 size map, so there is not much benefit to predicting out there. And then the...

To run on MP3D, this is what you need: - prediction model weights: https://drive.google.com/file/d/1CVIZ8UsikFFmMCno544P_KYQjoM9Rqin/view?usp=sharing - prediction model config: https://drive.google.com/file/d/1SLs6XEZ4e-Ve1j25A_VrVxhzOzx9tBwG/view?usp=sharing - RedNet code (this is from Stubborn): https://drive.google.com/file/d/1qNXyn868I6DxW5HD7zF_Q8nSsejPpUCh/view?usp=sharing - RedNet weights:...

1. and 2.: Oh sorry, I forgot to say that you need to add 1 to the goal id. That's something I found in Stubborn: https://github.com/Improbable-AI/Stubborn/blob/1a0f85bab2f203229406a5f311688ea7cf3b251e/Stubborn/agent/stubborn_agent.py#L52 The name mapping you...

Hmm, not sure, but the issue might be in some args for the mapping. Try using `--map_size_cm 7200 --global_downscaling 3` since MP3D scenes can be larger and the 4800 might...

If you use the ground truth for training input, there will be some distribution shift when you evaluate without it. A possibly better idea is that you can collect both...

Yea, the ablation study in our paper is on 500 episodes from HM3D val set.