From 641b7169b3c86b01ee8f3af521dc8187705d94e5 Mon Sep 17 00:00:00 2001
From: Ting-Jun Wang <levi900227@gmail.com>
Date: Sun, 6 Oct 2024 18:16:16 +0800
Subject: [PATCH] fix: evaluation metrics for new reverie (path)

it's a "new" new reverie, I only choose the front path & the back path >
1's instructions.
---
 map_nav_src/reverie/env.py         | 27 +++++++++++++--------------
 map_nav_src/scripts/run_reverie.sh |  2 +-
 2 files changed, 14 insertions(+), 15 deletions(-)

diff --git a/map_nav_src/reverie/env.py b/map_nav_src/reverie/env.py
index 21d768d..fe96eca 100644
--- a/map_nav_src/reverie/env.py
+++ b/map_nav_src/reverie/env.py
@@ -392,27 +392,28 @@ class ReverieObjectNavBatch(object):
         gt_room_start_vp = None
         gt_back_path = []
         gt_front_path = []
-        exit_room = False
         for vp in gt_path[::-1]:
-            if node_region[scan][vp] == gt_stop_region and not exit_room:
+            if node_region[scan][vp] == gt_stop_region and gt_front_path == []:
                 gt_back_path.append(vp)
                 gt_room_start_vp = vp
             else:
-                exit_room = True
                 gt_front_path.append(vp)
-        gt_front_path.reverse()
-        gt_back_path.reverse()
+
+        gt_front_path = gt_front_path[::-1]
+        gt_back_path = gt_back_path[::-1]
+
         assert (gt_front_path + gt_back_path) == gt_path, "Front path & Back path error"
+
         gt_front_path += [gt_room_start_vp]
+
         '''
         if scores['success'] == 1.0:
             scores['found_success'] = float(pred_found == gt_found) 
         else:
             scores['found_success'] = 0.0
         '''
-        gt_reach_length = np.sum([shortest_distances[a][b] for a, b in zip(gt_front_path[:-1], gt_front_path[1:])]) if len(gt_front_path) != 1 else 0.01
-        gt_explore_length = np.sum([shortest_distances[a][b] for a, b in zip(gt_back_path[:-1], gt_back_path[1:])]) if len(gt_back_path) != 1 else 0.01
-
+        gt_reach_length = np.sum([shortest_distances[a][b] for a, b in zip(gt_front_path[:-1], gt_front_path[1:])])
+        gt_explore_length = np.sum([shortest_distances[a][b] for a, b in zip(gt_back_path[:-1], gt_back_path[1:])])
 
         if scores['room_success'] != 0.0:
             # corse-grained
@@ -421,23 +422,21 @@ class ReverieObjectNavBatch(object):
             room_start_vp = None
             back_path = []
             front_path = []
-            exit_room = False
             for vp in path[::-1]:
-                if node_region[scan][vp] == gt_stop_region and not exit_room:
+                if node_region[scan][vp] == gt_stop_region and front_path == []:
                     back_path.append(vp)
                     room_start_vp = vp
                 else:
-                    exit_room = True
                     front_path.append(vp)
-            front_path.reverse()
-            back_path.reverse()
+
+            front_path = front_path[::-1]
+            back_path = back_path[::-1]
             assert (front_path + back_path) == path, "Front path & Back path error"
 
             # front_path = ... room_start_vp
             # back_path = room_start_vp ...
             front_path += [room_start_vp]
 
-
             reach_length = np.sum([shortest_distances[a][b] for a, b in zip(front_path[:-1], front_path[1:])]) if len(front_path) != 1 else 0.01
             explore_length = np.sum([shortest_distances[a][b] for a, b in zip(back_path[:-1], back_path[1:])]) if len(back_path) != 1 else 0.01
 
diff --git a/map_nav_src/scripts/run_reverie.sh b/map_nav_src/scripts/run_reverie.sh
index 408c1b1..57b989f 100644
--- a/map_nav_src/scripts/run_reverie.sh
+++ b/map_nav_src/scripts/run_reverie.sh
@@ -10,7 +10,7 @@ obj_ft_dim=768
 ngpus=1
 seed=0
 
-name=${train_alg}-${features}-new-reverie-only-front-path
+name=${train_alg}-${features}-new-reverie-all
 name=${name}-seed.${seed} #-${ngpus}gpus
 
 outdir=${DATA_ROOT}/REVERIE/exprs_map/finetune/${name}