Load robot skills models in hab

[jimmytyyang]

Motivation and Context

The PR loads the third-party policy into habitat for evaluation

Import config overwrite when loading robot-skills models

• habitat_baselines.num_environments=1 # only support a single env now
• habitat_baselines.load_third_party_ckpt=True # indicate that you want to load third party model, in our case, robot-skills model
• habitat_baselines.eval_ckpt_path_dir=/fsx-siro/jtruong/repos/robot-skills/results/heuristic_expert_pick/vla_wb_log/train/heuristic_expert_pick/train_lr_5e-05_seed_42/checkpoint/step50000.pt # the path of the model
• habitat_baselines.third_party_ckpt_root_folder=/data/home/jimmytyyang/facebook/vla/robot-skills # where do you define robot-skills
• habitat_baselines.third_party_config_path_dir=/data/home/jimmytyyang/facebook/vla/robot-skills/config/train/mg97hv104eval_jan12v2_0.yaml # where is your yaml path for the checkpoint

How Has This Been Tested

Working on this now

Types of changes

• [Development] A pull request that add new features to the habitat-lab task and environment codebase. Development Pull Requests must be small (less that 500 lines of code change), have unit testing, very extensive documentation and examples. These are typically new tasks, environments, sensors, etc... The review process for these Pull Request is longer because these changes will be maintained by our core team of developers, so make sure your changes are easy to understand!

Checklist

• My code follows the code style of this project.
• I have updated the documentation if required.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes if required.