Making Naoki's suggested changes and fixing configs (#16)

Making changes Naoki suggested in #15 I also needed to move the copyright text from PR #14 in the yaml file to get it to run (copyright is still in the file just not right at the top) --------- Co-authored-by: naokiyokoyama <naoki.yokoyama7@gmail.com>
bdaiinstitute · Oct 16, 2023 · e88f45f · e88f45f
1 parent a8a6e85
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Showing 5 changed files with 12 additions and 8 deletions.
diff --git a/config/experiments/reality.yaml b/config/experiments/reality.yaml
@@ -1,6 +1,7 @@
+# @package _global_
+
 # Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
 
-# @package _global_
 defaults:
   - /policy: zsos_config_base
   - _self_

diff --git a/config/experiments/ver_pointnav.yaml b/config/experiments/ver_pointnav.yaml
@@ -1,7 +1,7 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
-
 # @package _global_
 
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 defaults:
   - /tasks: pointnav_depth_hm3d
   - /habitat_baselines: habitat_baselines_rl_config_base

diff --git a/config/experiments/vlfm_objectnav_hm3d.yaml b/config/experiments/vlfm_objectnav_hm3d.yaml
@@ -1,7 +1,7 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
-
 # @package _global_
 
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+
 defaults:
   - /habitat_baselines: habitat_baselines_rl_config_base
   - /benchmark/nav/objectnav: objectnav_hm3d

diff --git a/vlfm/policy/base_objectnav_policy.py b/vlfm/policy/base_objectnav_policy.py
@@ -350,7 +350,8 @@ def _update_object_map(
 
             # If we are using vqa, then use the BLIP2 model to visually confirm whether
             # the contours are actually correct.
-            if (self._use_vqa is not None) and self._use_vqa:
+
+            if self._use_vqa:
                 contours, _ = cv2.findContours(
                     object_mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE
                 )

diff --git a/vlfm/vlm/grounding_dino.py b/vlfm/vlm/grounding_dino.py
@@ -39,7 +39,9 @@ def __init__(
         self.box_threshold = box_threshold
         self.text_threshold = text_threshold
 
-    def predict(self, image: np.ndarray, caption: str = "") -> ObjectDetections:
+    def predict(
+        self, image: np.ndarray, caption: Optional[str] = None
+    ) -> ObjectDetections:
         """
         This function makes predictions on an input image tensor or numpy array using a
         pretrained model.
@@ -58,7 +60,7 @@ def predict(self, image: np.ndarray, caption: str = "") -> ObjectDetections:
         image_transformed = F.normalize(
             image_tensor, mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]
         )
-        if caption == "":
+        if caption is None:
             caption_to_use = self.caption
         else:
             caption_to_use = caption