Potential inconsistency in metric and reward computation

Why does starting_distance in ObjectGoal_Env includes the object_boundary distance?

Object-Goal-Navigation/envs/habitat/objectgoal_env.py

Lines 143 to 145 in 5d76902

    
           self.starting_distance = self.gt_planner.fmm_dist[self.starting_loc]\ 
        
               / 20.0 + self.object_boundary 
        
           self.prev_distance = self.starting_distance

The shortest path should only reach the object boundary right? Not the object itself. This also propagates into the reward for action 0 since prev_distance includes the object boundary, but curr_distance does not.

Object-Goal-Navigation/envs/habitat/objectgoal_env.py

Lines 395 to 399 in 5d76902

    
           self.curr_distance = self.gt_planner.fmm_dist[curr_loc[0], 
        
                                                         curr_loc[1]] / 20.0 
        
           reward = (self.prev_distance - self.curr_distance) * \ 
        
               self.args.reward_coeff

The object_boundary should be not be added to starting_distance. Happy to send a PR if this makes sense.

	self.starting_distance = self.gt_planner.fmm_dist[self.starting_loc]\
	/ 20.0 + self.object_boundary
	self.prev_distance = self.starting_distance

	self.curr_distance = self.gt_planner.fmm_dist[curr_loc[0],
	curr_loc[1]] / 20.0

	reward = (self.prev_distance - self.curr_distance) * \
	self.args.reward_coeff