update class name

Author: wzcai99

internnav/model/basemodel/navdp/navdp_policy.py

@@ -8,10 +8,10 @@
 from internnav.configs.model.base_encoders import ModelCfg
 from internnav.configs.trainer.exp import ExpCfg
 from internnav.model.encoder.navdp_backbone import (
-    ImageGoal_Backbone,
+    ImageGoalBackbone,
     LearnablePositionalEncoding,
-    PixelGoal_Backbone,
-    RGBD_Backbone,
+    PixelGoalBackbone,
+    RGBDBackbone,
     SinusoidalPosEmb,
 )
 
@@ -83,13 +83,13 @@ def __init__(self, config: NavDPModelConfig):
         self.token_dim = self.config.model_cfg['il']['token_dim']
         self.scratch = self.config.model_cfg['il']['scratch']
         self.finetune = self.config.model_cfg['il']['finetune']
-        self.rgbd_encoder = RGBD_Backbone(
+        self.rgbd_encoder = RGBDBackbone(
             self.image_size, self.token_dim, memory_size=self.memory_size, finetune=self.finetune, device=self._device
         )
-        self.pixel_encoder = PixelGoal_Backbone(
+        self.pixel_encoder = PixelGoalBackbone(
             self.image_size, self.token_dim, pixel_channel=self.pixel_channel, device=self._device
         )
-        self.image_encoder = ImageGoal_Backbone(self.image_size, self.token_dim, device=self._device)
+        self.image_encoder = ImageGoalBackbone(self.image_size, self.token_dim, device=self._device)
         self.point_encoder = nn.Linear(3, self.token_dim)
 
         if not self.finetune:

internnav/model/encoder/navdp_backbone.py

@@ -202,7 +202,7 @@ def forward(self, images, depths):
         return memory_token
 
 
-class RGBD_Backbone(nn.Module):
+class RGBDBackbone(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 ImageGoal_Backbone(nn.Module):
+class ImageGoalBackbone(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 PixelGoal_Backbone(nn.Module):
+class PixelGoalBackbone(nn.Module):
     def __init__(self, image_size=224, embed_size=512, pixel_channel=7, device='cuda:0'):
         super().__init__()
         if device is None: