From 38b57241280e29c1367272031567e148a5f318dc Mon Sep 17 00:00:00 2001
From: jbykkk <209502307+jbykkk@users.noreply.github.com>
Date: Sun, 26 Apr 2026 12:08:05 +0800
Subject: [PATCH] Fix inference checkpoint resume to skip completed episodes

---
 .../vln/habitat_vln_evaluator.py                 | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/internnav/habitat_extensions/vln/habitat_vln_evaluator.py b/internnav/habitat_extensions/vln/habitat_vln_evaluator.py
index 01378df3..d93b3c44 100644
--- a/internnav/habitat_extensions/vln/habitat_vln_evaluator.py
+++ b/internnav/habitat_extensions/vln/habitat_vln_evaluator.py
@@ -243,8 +243,9 @@ def parse_actions(self, output):
 
     def resume_from_output_path(self) -> None:
         sucs, spls, oss, nes, ndtw = [], [], [], [], []
+        completed_episodes = set()
         if self.rank != 0:
-            return sucs, spls, oss, nes, ndtw
+            return sucs, spls, oss, nes, ndtw, completed_episodes
 
         # resume from previous results
         if os.path.exists(os.path.join(self.output_path, 'progress.json')):
@@ -257,13 +258,14 @@ def resume_from_output_path(self) -> None:
                     nes.append(res['ne'])
                     if 'ndtw' in res:
                         ndtw.append(res['ndtw'])
-        return sucs, spls, oss, nes, ndtw
+                    completed_episodes.add((res['scene_id'], res['episode_id']))
+        return sucs, spls, oss, nes, ndtw, completed_episodes
 
     def _run_eval_dual_system(self) -> tuple:  # noqa: C901
         self.model.eval()
 
         # resume from previous results
-        sucs, spls, oss, nes, ndtw = self.resume_from_output_path()
+        sucs, spls, oss, nes, ndtw, completed_episodes = self.resume_from_output_path()
 
         # Episode loop is now driven by env.reset() + env.is_running
         process_bar = tqdm.tqdm(total=len(self.env.episodes), desc=f"Eval Epoch {self.epoch} Rank {self.rank}")
@@ -281,6 +283,12 @@ def _run_eval_dual_system(self) -> tuple:  # noqa: C901
             scene_id = episode.scene_id.split('/')[-2]
             episode_id = int(episode.episode_id)
             episode_instruction = episode.instruction.instruction_text
+
+            # skip already completed episodes
+            if (scene_id, episode_id) in completed_episodes:
+                process_bar.update(1)
+                continue
+
             print("episode start", episode_instruction)
 
             # save first frame per rank to validate sim quality
@@ -632,7 +640,7 @@ def _run_eval_system2(self) -> tuple:
         self.model.eval()
 
         # resume from previous results
-        sucs, spls, oss, nes, ndtw = self.resume_from_output_path()
+        sucs, spls, oss, nes, ndtw, _ = self.resume_from_output_path()
 
         # Episode loop is now driven by env.reset() + env.is_running
         process_bar = tqdm.tqdm(total=len(self.env.episodes), desc=f"Eval Epoch {self.epoch} Rank {self.rank}")