update test end step

pl_modules/urban_nav_module.py

@@ -27,7 +27,7 @@ def __init__(self, cfg):
         self.image_std = np.array([0.229, 0.224, 0.225])
 
         # Initialize list to store test metrics
-        self.test_metrics = []
+        self.test_metrics = {'l1_loss': [], 'arrived_accuracy': []}
 
     def forward(self, obs, cord):
         return self.model(obs, cord)
@@ -94,10 +94,8 @@ def test_step(self, batch, batch_idx):
         accuracy = correct.sum().item() / correct.numel()
 
         # Store the metrics
-        self.test_metrics.append({
-            'l1_loss': l1_loss,
-            'arrived_accuracy': accuracy
-        })
+        self.test_metrics['l1_loss'].append(l1_loss)
+        self.test_metrics['arrived_accuracy'].append(accuracy)
 
         # Handle visualization
         self.process_visualization(
@@ -110,10 +108,15 @@ def test_step(self, batch, batch_idx):
 
     def on_test_epoch_end(self):
         # Save the test metrics to a .npy file
-        test_metrics_array = np.array(self.test_metrics, dtype=object)
-        test_metrics_path = os.path.join(self.result_dir, 'test_metrics.npy')
-        np.save(test_metrics_path, test_metrics_array)
-        print(f"Test metrics saved to {test_metrics_path}")
+        l1_loss_array = np.array(self.test_metrics['l1_loss'])
+        accuracy_array = np.array(self.test_metrics['arrived_accuracy'])
+        l1_loss_save_path = os.path.join(self.result_dir, 'test_l1_loss.npy')
+        accuracy_save_path = os.path.join(self.result_dir, 'test_arrived_accuracy.npy')
+        np.save(l1_loss_save_path, l1_loss_array)
+        np.save(accuracy_save_path, accuracy_array)
+        print(f"Test mean L1 loss {l1_loss_array.mean():.4f} saved to {l1_loss_save_path}")
+        print(f"Test mean arrived accuracy {accuracy_array.mean():.4f} saved to {accuracy_save_path}")
+        # print(f"Test metrics saved to {test_metrics_path}")
 
     def on_validation_epoch_start(self):
         self.vis_count = 0