Groundtruth Affordances

[ikaftan]

Hi, I need the groundtruth affordance maps for my project and I was wondering how you obtained them. I looked into the code a lot but I could not find it. In train_unet.py, there is a section called GT masks and it loads entries from a .npz file. As far as I understood, these are precomputed affordances with your method and not groundtruth affordances. Hence, I was wondering whether you can share how you obtained the groundtruth affordances from the simulator?

[Tushar-N]

The collect_dataset.sh script here runs an agent that places beacons and saves images from the simulator. The README has details on what gets saved.

[ikaftan]

Thanks! I will check it out.