Semantic Mapping Experiments Release

This release includes three new experiments corresponding to the semantic mapping experiments from the paper:

• baseline_configs/walkthrough/walkthrough_rgb_mapping_ppo.py - This experiment is used to pretrain the active neural SLAM (ANM) model. We have released pretrained ANM model weights which are automatically downloaded when running the below 1- / 2- phase mapping experiments (e.g. see here for an example of this being done).
• baseline_configs/one_phase/one_phase_rgb_resnet_frozen_map_dagger.py - The 1-phase mapping experiment where the pretrained (semantic) map is frozen.
• two_phase/two_phase_rgb_resnet_frozen_map_ppowalkthrough_ilunshuffle.py - The 2-phase mapping experiment where the pretrained (semantic) map is frozen.