Erik Wijmans

Sharing of rendering results

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## Motivation and Context Habitat-sim currently has the ability to draw RGB, Depth, and Semantic observations all on the same render pass, however, this isn't currently leveraged! This PR adds...

Variable Experience Rollout Part 2 -- CPC|A

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## Motivation and Context Implementation of Action-Conditional Contrastive Predictive Coding (CPC|A) that works with the mini-batches generated by VER. This is a useful aux loss that helps with visual representation...

Variable Experience Rollout [Part 1]

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## Motivation and Context Adds the core of the training code for VER. See https://github.com/facebookresearch/habitat-lab/blob/ver-part-1/habitat_baselines/rl/ver/README.md for how this code is laid out. Each component of the system (expect for the...

Autocast and fp16 mixed training -- faster training with less memory usage

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## Motivation and Context Add support for torch.cuda.amp.autocast and fp16 mixed training. Faster training with the former and faster training with less memory usage with the latter (albeit both jumps...

[Feature Request] High resolution videos

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## Feature Request With https://github.com/facebookresearch/habitat-sim/pull/114 landed, habitat-sim supports sensors of multiple resolutions. This means the habitat-api video generation code can be updated to output videos at arbitrary (and higher!) resolutions....

Better config stage 1

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## Motivation and Context The current integration between habitat_baseline's and habitat's config is tenuous at best. One issue with the two is that both assume that their config begins at...

Zero area polygons

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Question: Are zero area polygons allowed/expected? Context: I have a navigation mesh that has a couple of zero area polygons. These polygons are marked as navigable and thus can be...

Multi-goal shortest path

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# Summary ~Adds the ability to cache a the open/closed sets from a call to `findPath`. This is useful as you can then very quickly get to path to a...