modify the class name for NavDP

Author: wzcai99

internnav/model/basemodel/navdp/navdp_policy.py

@@ -7,15 +7,13 @@
 
 from internnav.configs.model.base_encoders import ModelCfg
 from internnav.configs.trainer.exp import ExpCfg
-from internnav.model.encoder.navdp_backbone import LearnablePositionalEncoding
 from internnav.model.encoder.navdp_backbone import (
-    NavDP_ImageGoal_Backbone as ImageGoal_Backbone,
+    ImageGoal_Backbone,
+    LearnablePositionalEncoding,
+    PixelGoal_Backbone,
+    RGBD_Backbone,
+    SinusoidalPosEmb,
 )
-from internnav.model.encoder.navdp_backbone import (
-    NavDP_PixelGoal_Backbone as PixelGoal_Backbone,
-)
-from internnav.model.encoder.navdp_backbone import NavDP_RGBD_Backbone as RGBD_Backbone
-from internnav.model.encoder.navdp_backbone import SinusoidalPosEmb
 
 
 class NavDPModelConfig(PretrainedConfig):

internnav/model/encoder/navdp_backbone.py

@@ -202,7 +202,7 @@ def forward(self, images, depths):
         return memory_token
 
 
-class NavDP_RGBD_Backbone(nn.Module):
+class RGBD_Backbone(nn.Module):
     def __init__(
         self,
         image_size=224,
@@ -313,7 +313,7 @@ def _get_device(self):
         return torch.device("cuda" if torch.cuda.is_available() else "cpu")
 
 
-class NavDP_ImageGoal_Backbone(nn.Module):
+class ImageGoal_Backbone(nn.Module):
     def __init__(self, image_size=224, embed_size=512, device='cuda:0'):
         super().__init__()
         if device is None:
@@ -376,7 +376,7 @@ def _get_device(self):
         return torch.device("cuda" if torch.cuda.is_available() else "cpu")
 
 
-class NavDP_PixelGoal_Backbone(nn.Module):
+class PixelGoal_Backbone(nn.Module):
     def __init__(self, image_size=224, embed_size=512, pixel_channel=7, device='cuda:0'):
         super().__init__()
         if device is None: