moving cupboard, adding table, reverting to pillow and shower,

bdaiinstitute · Sep 2, 2023 · 102a3e5 · 102a3e5
1 parent 281a7e2
commit 102a3e5
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Showing 3 changed files with 5 additions and 4 deletions.
diff --git a/zsos/policy/base_objectnav_policy.py b/zsos/policy/base_objectnav_policy.py
@@ -222,11 +222,11 @@ def _get_object_detections(self, img: np.ndarray) -> ObjectDetections:
         if self._target_object in COCO_CLASSES:
             detections = self._coco_object_detector.predict(img)
             self._det_conf_threshold = 0.8
+        else:
+            detections = self._object_detector.predict(img)
             detections.phrases = [
                 p.replace("cupboard", "cabinet") for p in detections.phrases
             ]
-        else:
-            detections = self._object_detector.predict(img)
             if self._target_object == "table" and detections.num_detections == 0:
                 detections = self._coco_object_detector.predict(img)
                 detections.phrases = [

diff --git a/zsos/policy/habitat_policies.py b/zsos/policy/habitat_policies.py
@@ -29,7 +29,7 @@
     "table",
     "picture",
     "cabinet",
-    "cushion",
+    "pillow",  # "cushion",
     "couch",  # "sofa",
     "bed",
     "drawers",  # "chest of drawers",
@@ -39,7 +39,7 @@
     "stool",
     "towel",
     "tv",  # "tv monitor",
-    "bath",  # "shower",
+    "shower",
     "bathtub",
     "counter",
     "fireplace",

diff --git a/zsos/vlm/classes.txt b/zsos/vlm/classes.txt
@@ -13,3 +13,4 @@ gym equipment
 seating
 clothes
 cupboard
+table