Discrete Actions for Rearrange Simulator in Habitat 3

[Zeying-Gong]

Habitat-Lab and Habitat-Sim versions

Habitat-Lab: v0.3.1

Habitat-Sim: v0.3.1

❓ Questions and Help

Hi Habitat Team,

I have a question regarding using discrete actions in the multi-agent environments of the rearrange_sim module. In the habitat_sim module, we have discrete actions such as move_forward, turn_left, and turn_right. However, I noticed that these discrete actions from the older versions of Habitat don't work in the rearrange_sim module, possibly due to the multi-agent setup.

Are there equivalent discrete actions (e.g., move_forward, turn_left, turn_right) available in the rearrange_sim module similar to those in habitat_sim? If discrete actions are unavailable in the rearrange_sim, could we use continuous actions (base_vel with lin_vel and ang_vel) instead? If so, what would be the corresponding values for these continuous actions compared to the default discrete actions?

For reference, the default discrete actions are:

move_forward: 0.25 meters
turn_left: 10 degrees
turn_right: 10 degrees

Thank you for your assistance!