changing feasibility reporting; catching IndexErrors when checking fo…

…r false positives

zsos/utils/episode_stats_logger.py

@@ -62,9 +62,7 @@ def determine_failure_cause(infos: Dict) -> str:
     Returns:
         A string describing the cause of failure.
     """
-    if not infos["top_down_map"]["is_feasible"]:
-        return "infeasible"
-    elif infos["target_detected"]:
+    if infos["target_detected"]:
         if was_false_positive(infos):
             return "false_positive"
         else:
@@ -77,9 +75,13 @@ def determine_failure_cause(infos: Dict) -> str:
             return "false_negative"
         else:
             if infos["traveled_stairs"]:
-                return "never_saw_target_traveled_stairs"
+                cause = "never_saw_target_traveled_stairs"
             else:
-                return "never_saw_target"
+                cause = "never_saw_target_did_not_travel_stairs"
+            if not infos["top_down_map"]["is_feasible"]:
+                return cause + "_likely_infeasible"
+            else:
+                return cause + "_feasible"
 
 
 def was_target_seen(infos: Dict[str, Any]) -> bool:
@@ -116,7 +118,11 @@ def was_false_positive(infos: Dict[str, Any]) -> bool:
         remove_duplicates=True,
     )
 
-    return target_bboxes_mask[grid_xy[0, 0], grid_xy[0, 1]] == 0
+    try:
+        return target_bboxes_mask[grid_xy[0, 0], grid_xy[0, 1]] == 0
+    except IndexError:
+        # If the point goal is outside the map, assume it is a false positive
+        return True
 
 
 def remove_numpy_arrays(d: Dict) -> Dict: