Added goal sensor argument back, hallenge_pointnav2020_v2, added passing ResnetPolicy params, added SOFT_SPL

[mathfac]

Motivation and Context

• Added goal sensor argument back to fix failure of PointNav docker
• Added challenge_pointnav2020_v2 with camera tilt -20 degrees to comply with Gibson 2020 challenge, the config won't be used for Habitat challenge evaluation.
• Expanded random seed setting to replicate same metrics with multiple runs.
• Added passing ResnetPolicy params to address PPO model training with habitat 2020 challenge config #26 (comment)
• Added SOFT_SPL metric to be consistent with metrics we report remotely.

How Has This Been Tested

Objectnav local test:
docker build . --file Objectnav_DDPPO_baseline.Dockerfile -t objectnav_submission && bash test_locally_objectnav_rgbd.sh --docker-name objectnav_submission

2020-05-11 20:07:47,179 Initializing dataset ObjectNav-v1
2020-05-11 20:07:47,240 initializing sim Sim-v0
2020-05-11 20:07:48,833 Initializing task ObjectNav-v1
2020-05-11 20:12:07,349 distance_to_goal: 5.4542582359164955
2020-05-11 20:12:07,349 success: 0.0
2020-05-11 20:12:07,349 spl: 0.0
2020-05-11 20:12:07,349 softspl: 0.07157614435882213

Pointnav local test:
docker build . --file Pointnav.Dockerfile -t pointnav_submission && ./test_locally_pointnav_rgbd.sh --docker-name pointnav_submission

2020-05-11 18:58:25,851 Overwriting CNN input size of depth: (256, 256)
2020-05-11 18:58:25,853 Overwriting CNN input size of rgb: (256, 256)
Checkpoint loaded: demo.ckpt.pth
2020-05-11 18:58:28,118 Initializing dataset PointNav-v1
2020-05-11 18:58:28,119 initializing sim Sim-v0
2020-05-11 18:58:29,471 Initializing task Nav-v0
2020-05-11 19:01:58,190 distance_to_goal: 2.2835945556561152
2020-05-11 19:01:58,190 success: 0.06666666666666667
2020-05-11 19:01:58,190 spl: 0.027204928901281608
2020-05-11 19:01:58,190 softspl: 0.2964175495801797

[Skylion007]

I why should this be hard coded instead of being read from the TASK_CONFIG though as per the earlier comment though?

[mathfac]

@Skylion007 it was updated.