Why do you use ground-truth instance segmentation mask in va_interact?

[soyeonm]

Hello,

I have a question. In line 501 of va_interact (in thor_env.py), you call the ground-truth segmentation of the view. Is this to obtain the exact 'object_id' (e.g. 'Fridge|-00.32|00.00|+03.60' ) of the object to interact with? (Since the predicted "mask" is only binary? And also since getting the category only (e.g. 'Fridge') is insufficient?)

Thanks!

[MohitShridhar]

@soyeonm this function implements IoU-based object selection:

Is this to obtain the exact 'object_id' (e.g. 'Fridge|-00.32|00.00|+03.60' ) of the object to interact with?

Yes, you need the exact object_id because there could be multiple instances of the same object, e.g. apple1, apple2, apple3 etc. all in the same frame. So you have to be specific about which apple to pickup via the pixelwise mask.

[MohitShridhar]

Closing due to inactivity.