From 924cfe9b43e582ded0d5ef37eadaa1755bf13304 Mon Sep 17 00:00:00 2001 From: Ting-Jun Wang Date: Sun, 21 Jan 2024 14:48:01 +0800 Subject: [PATCH] feat: show NOT_FOUND prob. in detail informations --- map_nav_src/reverie/agent_obj.py | 3 ++- map_nav_src/reverie/parser.py | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/map_nav_src/reverie/agent_obj.py b/map_nav_src/reverie/agent_obj.py index ce5f458..13b092a 100644 --- a/map_nav_src/reverie/agent_obj.py +++ b/map_nav_src/reverie/agent_obj.py @@ -416,13 +416,14 @@ class GMapObjectNavAgent(Seq2SeqAgent): else: og = None + # 如果有找到，og 會是 object id # 如果是 not found，og 會是 -1 # 如果這個 viewpoint 看不到物件，og 會是 None gmap.node_stop_scores[i_vp] = { 'stop': nav_probs[i, 0].data.item(), 'og': og, - 'og_details': {'objids': i_objids, 'logits': i_obj_logits[:len(i_objids)]}, + 'og_details': {'objids': i_objids, 'logits': torch.cat([i_obj_logits[:len(i_objids)], i_obj_logits[[-1]] ], dim=0)}, } if train_ml is not None: diff --git a/map_nav_src/reverie/parser.py b/map_nav_src/reverie/parser.py index 8b9fe73..9e5a3c8 100644 --- a/map_nav_src/reverie/parser.py +++ b/map_nav_src/reverie/parser.py @@ -71,7 +71,7 @@ def parse_args(): parser.add_argument('--test', action='store_true', default=False) parser.add_argument("--submit", action='store_true', default=False) parser.add_argument('--no_backtrack', action='store_true', default=False) - parser.add_argument('--detailed_output', action='store_true', default=False) + parser.add_argument('--detailed_output', action='store_true', default=True) # Training Configurations parser.add_argument(