From c8a263ba7fedb8d0272a281ca904056dceab62f7 Mon Sep 17 00:00:00 2001 From: kew6688 Date: Fri, 19 Sep 2025 02:59:20 +0000 Subject: [PATCH 1/2] change env_num to 1 --- scripts/eval/configs/challenge_cfg.py | 13 +++++-------- scripts/eval/configs/challenge_kujiale_cfg.py | 13 +++++-------- scripts/eval/configs/challenge_mp3d_cfg.py | 13 +++++-------- setup.cfg | 1 - 4 files changed, 15 insertions(+), 25 deletions(-) diff --git a/scripts/eval/configs/challenge_cfg.py b/scripts/eval/configs/challenge_cfg.py index d567c884..fa569bd1 100644 --- a/scripts/eval/configs/challenge_cfg.py +++ b/scripts/eval/configs/challenge_cfg.py @@ -18,14 +18,14 @@ env_type='vln_pe', env_settings={ 'use_fabric': False, - 'headless': True, # display option: set to False will open isaac-sim interactive window + 'headless': True, # display option: set to False will open isaac-sim interactive window }, ), task=TaskCfg( task_name='rdp_iros_test', task_settings={ - 'env_num': 2, - 'use_distributed': False, # Ray distributed framework + 'env_num': 1, + 'use_distributed': False, # Ray distributed framework 'proc_num': 8, }, scene=SceneCfg( @@ -34,7 +34,7 @@ ), robot_name='h1', robot_usd_path='data/Embodiments/vln-pe/h1/h1_vln_pointcloud.usd', - camera_resolution=[256,256], # (W,H) + camera_resolution=[256, 256], # (W,H) camera_prim_path='torso_link/h1_pano_camera_0', ), dataset=EvalDatasetCfg( @@ -45,8 +45,5 @@ 'filter_stairs': False, }, ), - eval_settings={ - 'save_to_json': True, - 'vis_output': True # save result to video under logs/ - } + eval_settings={'save_to_json': True, 'vis_output': True}, # save result to video under logs/ ) diff --git a/scripts/eval/configs/challenge_kujiale_cfg.py b/scripts/eval/configs/challenge_kujiale_cfg.py index 71cf8a27..d1bd95a9 100644 --- a/scripts/eval/configs/challenge_kujiale_cfg.py +++ b/scripts/eval/configs/challenge_kujiale_cfg.py @@ -18,14 +18,14 @@ env_type='vln_pe', env_settings={ 'use_fabric': False, - 'headless': True, # display option: set to False will open isaac-sim interactive window + 'headless': True, # display option: set to False will open isaac-sim interactive window }, ), task=TaskCfg( task_name='challenge_kujiale_eval', task_settings={ - 'env_num': 2, - 'use_distributed': False, # Ray distributed framework + 'env_num': 1, + 'use_distributed': False, # Ray distributed framework 'proc_num': 8, }, scene=SceneCfg( @@ -34,7 +34,7 @@ ), robot_name='h1', robot_usd_path='data/Embodiments/vln-pe/h1/h1_vln_pointcloud.usd', - camera_resolution=[256,256], # (W,H) + camera_resolution=[256, 256], # (W,H) camera_prim_path='torso_link/h1_pano_camera_0', ), dataset=EvalDatasetCfg( @@ -45,8 +45,5 @@ 'filter_stairs': False, }, ), - eval_settings={ - 'save_to_json': True, - 'vis_output': True # save result to video under logs/ - } + eval_settings={'save_to_json': True, 'vis_output': True}, # save result to video under logs/ ) diff --git a/scripts/eval/configs/challenge_mp3d_cfg.py b/scripts/eval/configs/challenge_mp3d_cfg.py index fe5f8d8e..9a55e4a7 100644 --- a/scripts/eval/configs/challenge_mp3d_cfg.py +++ b/scripts/eval/configs/challenge_mp3d_cfg.py @@ -24,7 +24,7 @@ task=TaskCfg( task_name='challenge_mp3d_eval', task_settings={ - 'env_num': 2, + 'env_num': 1, 'use_distributed': False, 'proc_num': 2, }, @@ -34,10 +34,10 @@ ), robot_name='h1', robot_usd_path='data/Embodiments/vln-pe/h1/h1_vln_pointcloud.usd', - camera_resolution=[256,256], # (W,H) + camera_resolution=[256, 256], # (W,H) camera_prim_path='torso_link/h1_pano_camera_0', - vlnce=False, # vlnpe by default - obstacle_detection=False, # whether allow flash across obstacle + vlnce=False, # vlnpe by default + obstacle_detection=False, # whether allow flash across obstacle ), dataset=EvalDatasetCfg( dataset_type="mp3d", @@ -47,8 +47,5 @@ 'filter_stairs': False, }, ), - eval_settings={ - 'save_to_json': False, - 'vis_output': True - } + eval_settings={'save_to_json': False, 'vis_output': True}, ) diff --git a/setup.cfg b/setup.cfg index b9c7cb70..73140fbd 100644 --- a/setup.cfg +++ b/setup.cfg @@ -24,7 +24,6 @@ skip = *.txt *.md *.json -exclude = internnav/model/basemodel/LongCLIP/eval/classification/imagenet/categories.txt [flake8] From a4b62ffd330fb3df4c8ba5c644a69e96522c4825 Mon Sep 17 00:00:00 2001 From: kew6688 Date: Fri, 19 Sep 2025 03:14:51 +0000 Subject: [PATCH 2/2] remove unused flag --- scripts/eval/configs/challenge_mp3d_cfg.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/scripts/eval/configs/challenge_mp3d_cfg.py b/scripts/eval/configs/challenge_mp3d_cfg.py index 9a55e4a7..74617534 100644 --- a/scripts/eval/configs/challenge_mp3d_cfg.py +++ b/scripts/eval/configs/challenge_mp3d_cfg.py @@ -36,8 +36,6 @@ robot_usd_path='data/Embodiments/vln-pe/h1/h1_vln_pointcloud.usd', camera_resolution=[256, 256], # (W,H) camera_prim_path='torso_link/h1_pano_camera_0', - vlnce=False, # vlnpe by default - obstacle_detection=False, # whether allow flash across obstacle ), dataset=EvalDatasetCfg( dataset_type="mp3d",