Clarification

[koriavinash1]

Can anyone please help me in understanding the difference between 'pointgoal' in observation and self._env.current_episode.goals?
observation['pointgoal'] \in R^2 while target_goals \in R^3, what are each of them?

[erikwijmans]

The goal in current_episode.goals is the 3D position of the point goal in world coordinates. The 2D pointgoal observation is the 2D position of the point goal in the agent's egocentric coordinates (by default, this is also converted to polar coordinates as that leads to much simpler hand-coded logic).

So observation['pointgoal'] = xyz_to_2d_polar(R_agent_world * (current_episode.goals[0].position - agent.position)). See the code here: https://github.com/facebookresearch/habitat-api/blob/master/habitat/tasks/nav/nav_task.py#L181