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[WIP] Iros Challenge default config replaced agent #64

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Merged
kew6688 merged 2 commits into from
Sep 16, 2025
Merged

[WIP] Iros Challenge default config replaced agent #64

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b2f28b2
fix default config replaced agent
kew6688 Sep 15, 2025
9278d35
update server port
kew6688 Sep 15, 2025
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2 changes: 1 addition & 1 deletion challenge/start_eval_iros.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
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16 changes: 11 additions & 5 deletions scripts/eval/eval_iros.py
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Original file line number Diff line number Diff line change
@@ -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(
Expand All @@ -32,19 +35,21 @@ 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)
sys.modules["eval_config_module"] = config_module
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')
Expand All @@ -57,5 +62,6 @@ def main():
evaluator.save_to_json = True
evaluator.eval()


if __name__ == '__main__':
main()
main()