Evaluation API

Scope

• omninav/evaluation/base.py

• omninav/evaluation/tasks/waypoint_task.py

• omninav/evaluation/tasks/inspection_task.py

• omninav/evaluation/metrics/inspection_metrics.py

Base interfaces

TaskBase

Source: base.py

Responsibilities:

• task reset/step

• task specification dispatch to algorithms

• task result generation

MetricBase

Source: base.py

Responsibilities:

• metric update/compute/reset

Built-in tasks

• WaypointTask: waypoint_task.py

• InspectionTask: inspection_task.py

Built-in inspection metrics

• CoverageRate

• DetectionRate

• InspectionTime

• SafetyScore

Source: inspection_metrics.py

Task configuration references

• configs/task/waypoint.yaml

• configs/task/inspection.yaml

• configs/task/point_nav.yaml

Note

object_nav task config is not shipped in the current baseline. Use the three task configs above as the source of truth.