In the code from collect_il_data.py to evaluate.py, which parts call RCNN?

[bruz-z]

Hello, I'm working on your project recently. I ran collect_il_data,collect_graph,train_il,train_rl,evaluate according to the readme process, but I never found the place where RCNN was called in the code (i.e. Detector module)

Then I referred to object_encoder.ipynb and found that semantic_array may already contain object classification information, and then this variable was obtained through sim.get_sensor_observations(), but I checked the source code of this method, and there was no information about RCNN.

So I would like to ask which part in collect_il_data,collect_graph,train_il,train_rl,evaluate call RCNN? If not, how to use RCNN?
Thanks！