refactor(verification): add progress bars and simplify device handling

mini-nav/utils/model.py

@@ -15,13 +15,12 @@ if TYPE_CHECKING:
 def load_sam_model(
     model_name: str = "facebook/sam2.1-hiera-large",
 ) -> MaskGenerationPipeline:
-    device = str(get_device())
-    device_id = 0 if device.startswith("cuda") else -1
+    device = get_device()
 
     return pipeline(
         task="mask-generation",
         model=model_name,
-        device=device_id,
+        device=device,
     )