feat: add found in get_obs()

map_nav_src/reverie/data_utils.py

@@ -87,6 +87,7 @@ def construct_instrs(anno_dir, dataset, splits, tokenizer, max_instr_len=512):
                 new_item['objId'] = None
             new_item['instruction'] = instr
             new_item['instr_encoding'] = item['instr_encodings'][j][:max_instr_len]
+            new_item['found'] = item['found'][j]
             del new_item['instructions']
             del new_item['instr_encodings']
             data.append(new_item)

map_nav_src/reverie/env.py

@@ -311,6 +311,7 @@ class ReverieObjectNavBatch(object):
                 'navigableLocations' : state.navigableLocations,
                 'instruction' : item['instruction'],
                 'instr_encoding': item['instr_encoding'],
+                'gt_found' : item['found'],
                 'gt_path' : item['path'],
                 'gt_end_vps': item.get('end_vps', []),
                 'gt_obj_id': item['objId'],

map_nav_src/reverie/main_nav_obj.py

@@ -65,8 +65,8 @@ def build_dataset(args, rank=0):
             multi_endpoints=args.multi_endpoints, multi_startpoints=args.multi_startpoints,
         )
 
-    # val_env_names = ['val_train_seen']
-    val_env_names = ['val_train_seen', 'val_seen', 'val_unseen']
+    # val_env_names = ['val_train_seen', 'val_seen', 'val_unseen']
+    val_env_names = [ 'val_seen', 'val_unseen']
 
     if args.submit:
         val_env_names.append('test')