refactor(compressors): consolidate pipeline and improve mask handling

mini-nav/configs/config.yaml

@@ -1,7 +1,7 @@
 model:
   dino_model: "facebook/dinov2-large"
   compression_dim: 512
-  device: "auto" # auto-detect GPU
+  device: "cuda:3" # auto-detect GPU
   sam_model: "facebook/sam2.1-hiera-large" # SAM model name
   sam_min_mask_area: 100 # Minimum mask area threshold
   sam_max_masks: 10 # Maximum number of masks to keep

mini-nav/configs/models.py

@@ -18,7 +18,12 @@ class ModelConfig(BaseModel):
     compression_dim: int = Field(
         default=512, gt=0, description="Output feature dimension"
     )
-    device: str = "auto"
+    device: str = Field(
+        default="auto",
+        description=(
+            "Device to use for model inference (e.g., 'cuda:1,3', 'auto', 'cpu')"
+        ),
+    )
     sam_model: str = Field(
         default="facebook/sam2.1-hiera-large",
         description="SAM model name from HuggingFace",