[Hello] Explicit merge into main to remove diverged history (#1386)

* Try coco model

* Agent height

* Agent height

* Take screenshots to illustrate depth gap

* Fix depth gap visualization

* bgr -> rgb

* Replicate zero depth at object boundaries

* Vis depth gap

* Add hole filling to depth processing pipeline

* Automatic style fix for droidlet

* Remove edge zero

* Logging for modular methods

* Automatic style fix for droidlet

* Logging for end-to-end method

* End-to-end logging works on robot

* Fix vis

* Fix frontier exploration in Habitat

* Automatic style fix for droidlet

* Fix frontier exploration in Habitat

* Fix bug

* Frontier exploration on robot

* Ensure correct input format for segmentation

* Automatic style fix for droidlet

* Ensure correct input format for segmentation

* Ensure correct input format for segmentation

* Ensure correct input format for segmentation

* Trackback

* Debug trackback

* Debug trackback

* Debug trackback

* Debug trackback

* Debug trackback

* Debug trackback

* Debug trackback

* Get trackback working with end-to-end method

* Fix trackback bug

* Allow (640, 480) resolution

* Print

* Test (640, 480)

* Try new policy

* Try new policy

* Try new policy

* Print ckpt keys

* Test policy in Habitat

* Test policy in Habitat

* Test policy in Habitat

* Try policy

* print sim config

* print sim config

* Enrich habitat config

* Automatic style fix for droidlet

* Enrich habitat config

* Enrich habitat config

* Enrich habitat config

* Enrich habitat config

* Automatic style fix for droidlet

* Enrich habitat config

* Automatic style fix for droidlet

* Enrich habitat config

* Automatic style fix for droidlet

* Enrich habitat config

* Enrich habitat config

* Enrich habitat config

* Enrich habitat config

* Enrich habitat config

* Enrich habitat config

* Enrich habitat config

* Enrich habitat config

* Enrich habitat config

* Enrich habitat config

* Enrich habitat config

* Automatic style fix for droidlet

* Enrich habitat config

* Enrich habitat config

* Fix intrinsic matrix

* Fix intrinsic matrix

* Fix intrinsic matrix

* Fix intrinsic matrix

* Use GPU 1

* Use GPU 0

* Habitat with robot settings

* Test best policies in Habitat

* Test best policies in Habitat

* Test best policies in Habitat

* Small fixes to end-to-end policy

* Log pcd and semantics for Pierre

* Look for objects in the frame if not found in the map

* increase max depth to 5m

* Automatic style fix for droidlet

* Debug object in frame

* Debug object in frame

* Debug object in frame

* Look for object in frame

* Debug object in frame

* Automatic style fix for droidlet

* Debug object in frame

* Automatic style fix for droidlet

* Debug object in frame

* Automatic style fix for droidlet

* Debug object in frame

* Debug object in frame

* Debug object in frame

* Debug object in frame

* Debug object in frame

* Debug object in frame

* Debug object in frame

* Debug object in frame

* small fix

* Start with panorama

* Automatic style fix for droidlet

* Start with panorama

* comment

* Max depth 4m for consistency with end-to-end policy

* Clean up

* Clean up

* Small fixes while testing frontier exploration

* Test all end-to-end models

* Fix small bug

* Allow look up/down

* Allow look up/down

* Automatic style fix for droidlet

* Small fixes + script

* Automatic style fix for droidlet

* script

* script

* Automatic style fix for droidlet

* script

* Automatic style fix for droidlet

* script

* Automatic style fix for droidlet

* Try policy trained without depth noise

* log

* new e2e policy

* Fix panorama start

* log

* Fix look up/down

* Fix object in frame bug

* improve result script

* improve result script

* Automatic style fix for droidlet

* improve result script

* Automatic style fix for droidlet

* comment

* policy

* save before move to main

* Automatic style fix for droidlet

* save state

* Starting positions in sim

* Fix start locations and agent height

* Automatic style fix for droidlet

* dev

* dev

* Automatic style fix for droidlet

* dev

* dev

* dev

* dev

* Automatic style fix for droidlet

* dev

* dev

* dev

* dev

* Automatic style fix for droidlet

* dev

* Automatic style fix for droidlet

* dev

* Automatic style fix for droidlet

* dev

* Automatic style fix for droidlet

* dev

* Hacky fix to bug where walls too close to the agent don't get mapped

* dev

* dev

* Automatic style fix for droidlet

* dev

* Automatic style fix for droidlet

* dev

* Automatic style fix for droidlet

* dev

* dev

* dev

* Automatic style fix for droidlet

* dev

* Automatic style fix for droidlet

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* Automatic style fix for droidlet

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

* dev

Co-authored-by: theophilee <theophile.gervet@gmail.com>
Co-authored-by: bot <bot@fb.com>