Some depth values are not within the 0-5 range for RoboTHOR's DepthSensorThor about allenact

[jordis-ai2]

Hi @SamsonYuBaiJian,

Thanks for the very detailed description of the issue!

My actual understanding of the action space ranges is that they provide a coarse idea about the expected output ranges (it's common to set the supremum to +np.inf and the infimum to -np.inf for real-valued outputs).

May I know what are the units for the [0, 5] observations for the depth sensor, say meters, since I would like to test a checkpoint in the real world with a D435i camera?

The units are meters, as in https://ai2thor.allenai.org/ithor/documentation/environment-state/#event-depth_frame. If the far clipping plane of the renderer is beyond 5 meters, the raw depth values can also be beyond 5.

Lastly, how are values beyond the max depth dealt with?

The current sensor just applies the normalization operation: subtract the mean, divide by the std:

allenact/allenact/embodiedai/sensors/vision_sensors.py

Line 186 in a709009

if self._should_normalize:

Please let me know if this answers your question.

[SamsonYuBaiJian]

Thanks @jordis-ai2 for the very fast response, you have answered my question.