From b2f28b23ddc3444d427d9458aa8dfb1061af86f0 Mon Sep 17 00:00:00 2001
From: wangyukai <kewa990809@gmail.com>
Date: Mon, 15 Sep 2025 06:20:13 +0000
Subject: [PATCH 1/2] fix default config replaced agent

---
 scripts/eval/eval_iros.py | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/scripts/eval/eval_iros.py b/scripts/eval/eval_iros.py
index b3e9e76a..a95a95d0 100644
--- a/scripts/eval/eval_iros.py
+++ b/scripts/eval/eval_iros.py
@@ -1,13 +1,16 @@
 import sys
+
 sys.path.append('.')
 
-from internnav.configs.evaluator.default_config import get_config
-from internnav.evaluator import Evaluator
 import argparse
 import importlib.util
 
+from internnav.configs.evaluator.default_config import get_config
+from internnav.evaluator import Evaluator
+
 # This file is the main file
 
+
 def parse_args():
     parser = argparse.ArgumentParser()
     parser.add_argument(
@@ -32,6 +35,7 @@ def parse_args():
     )
     return parser.parse_args()
 
+
 def load_eval_cfg(config_path, attr_name='eval_cfg'):
     spec = importlib.util.spec_from_file_location("eval_config_module", config_path)
     config_module = importlib.util.module_from_spec(spec)
@@ -39,12 +43,13 @@ def load_eval_cfg(config_path, attr_name='eval_cfg'):
     spec.loader.exec_module(config_module)
     return getattr(config_module, attr_name)
 
+
 def replace_cfg(evaluator_cfg, default_cfg, split):
-    default_cfg.agent.model_name = evaluator_cfg.agent.model_name
-    default_cfg.agent.ckpt_path = evaluator_cfg.agent.ckpt_path
+    default_cfg.agent = evaluator_cfg.agent
     if split:
         default_cfg.dataset.dataset_settings['split_data_types'] = [split]
 
+
 def main():
     args = parse_args()
     evaluator_cfg = load_eval_cfg(args.config, attr_name='eval_cfg')
@@ -57,5 +62,6 @@ def main():
     evaluator.save_to_json = True
     evaluator.eval()
 
+
 if __name__ == '__main__':
-    main()
\ No newline at end of file
+    main()

From 9278d356affcd95d4dceea30c5073011a1f21909 Mon Sep 17 00:00:00 2001
From: wangyukai <kewa990809@gmail.com>
Date: Mon, 15 Sep 2025 10:23:42 +0000
Subject: [PATCH 2/2] update server port

---
 challenge/start_eval_iros.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/challenge/start_eval_iros.sh b/challenge/start_eval_iros.sh
index 5694a55e..d5f43acb 100755
--- a/challenge/start_eval_iros.sh
+++ b/challenge/start_eval_iros.sh
@@ -47,7 +47,7 @@ if [ -n "$processes" ]; then
         echo "kill: $pid"
     done
 fi
-python internnav/agent/utils/server.py --config scripts/eval/configs/challenge_kujiale_cfg.py > "$SERVER_LOG" 2>&1 &
+python internnav/agent/utils/server.py --config scripts/eval/configs/challenge_cfg.py > "$SERVER_LOG" 2>&1 &
 
 
 START_COMMAND_KUJIALE="python -u scripts/eval/eval_iros.py --config $CONFIG --default_config scripts/eval/configs/challenge_kujiale_cfg.py --split $SPLIT"