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feat: show NOT_FOUND prob. in detail informations

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Ting-Jun Wang 2024-01-21 14:48:01 +08:00
parent de3326ae85
commit 924cfe9b43
Signed by: snsd0805
GPG Key ID: 48D331A3D6160354
2 changed files with 3 additions and 2 deletions
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3
map_nav_src/reverie/agent_obj.py
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@ -416,13 +416,14 @@ class GMapObjectNavAgent(Seq2SeqAgent):
else: else:
og = None og = None
# 如果有找到，og 會是 object id # 如果有找到，og 會是 object id
# 如果是 not found，og 會是 -1 # 如果是 not found，og 會是 -1
# 如果這個 viewpoint 看不到物件，og 會是 None # 如果這個 viewpoint 看不到物件，og 會是 None
gmap.node_stop_scores[i_vp] = { gmap.node_stop_scores[i_vp] = {
'stop': nav_probs[i, 0].data.item(), 'stop': nav_probs[i, 0].data.item(),
'og': og, '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: if train_ml is not None:

2
map_nav_src/reverie/parser.py
View File

@ -71,7 +71,7 @@ def parse_args():
parser.add_argument('--test', action='store_true', default=False) parser.add_argument('--test', action='store_true', default=False)
parser.add_argument("--submit", 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('--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 # Training Configurations
parser.add_argument( parser.add_argument(