fix: some KEY ERROR situation

- situation: in visualization tool, some False Negative case(receive
  adversarial instruction but return True(found)) will get the
  found_objid but None. So it will raise a Key error interrupt.

- Solution: found that there is a condition function in agent_obj.py
  return NOT_FOUND when detecting the found_objId is -1 but it doesn't
  detect None so that it always return FOUND when the found_objId is
  None. It doens't follow the rules. I add a new condition to check
  whether the found_objId is -1 or None

- Other: For run the testing scripts, the user can shoose to replace the
  exists output file.

map_nav_src/reverie/agent_base.py

@@ -27,7 +27,13 @@ class BaseAgent(object):
     def get_results(self, detailed_output=False):
         output = []
         for k, v in self.results.items():
-            output.append({'instr_id': k, 'trajectory': v['path'], 'pred_objid': v['pred_objid'], 'found': v['found'], 'gt_found': v['gt_found']})
+            output.append({
+                'instr_id': k,
+                'trajectory': v['path'],
+                'pred_objid': v['pred_objid'],
+                'found': v['found'],
+                'gt_found': v['gt_found']
+            })
             if detailed_output:
                 output[-1]['details'] = v['details']
         return output

map_nav_src/reverie/agent_obj.py

@@ -504,7 +504,7 @@ class GMapObjectNavAgent(Seq2SeqAgent):
                     if stop_node is not None and obs[i]['viewpoint'] != stop_node:
                         traj[i]['path'].append(gmaps[i].graph.path(obs[i]['viewpoint'], stop_node))
                     traj[i]['pred_objid'] = stop_score['og']
-                    if stop_score['og'] == -1:
+                    if stop_score['og'] == -1 or stop_score['og'] == None:
                         traj[i]['found'] = False
                     else:
                         traj[i]['found'] = True

map_nav_src/reverie/main_nav_obj.py

@@ -69,7 +69,9 @@ def build_dataset(args, rank=0):
     val_env_names = [ 'val_seen', 'val_unseen']
 
     if args.submit:
-        val_env_names.append('test')
+        include_test = input('Include test dataset? (y/n)')
+        if include_test == 'y' or include_test == 'Y':
+            val_env_names.append('test')
         
     val_envs = {}
     for split in val_env_names:
@@ -239,11 +241,14 @@ def valid(args, train_env, val_envs, rank=-1):
         write_to_record_file(str(args) + '\n\n', record_file)
 
     for env_name, env in val_envs.items():
+        print(env_name)
         prefix = 'submit' if args.detailed_output is False else 'detail'
         output_file = os.path.join(args.pred_dir, "%s_%s_%s.json" % (
             prefix, env_name, args.fusion))
         if os.path.exists(output_file):
-            continue
+            replace = input(f"{output_file} exists. Replace? (y/n): ")
+            if replace != 'y' and replace != 'Y':
+                continue
         agent.logs = defaultdict(list)
         agent.env = env