From 0d4630e435e79a888a5bc38629c9b941363ca5ef Mon Sep 17 00:00:00 2001 From: Nishanth Kumar Date: Thu, 21 Nov 2024 11:19:31 -0500 Subject: [PATCH] update to run kitchen first --- scripts/configs/pred_invention_vlm.yaml | 66 ++++++++++++------------- 1 file changed, 33 insertions(+), 33 deletions(-) diff --git a/scripts/configs/pred_invention_vlm.yaml b/scripts/configs/pred_invention_vlm.yaml index f0b84ee83..bb43a528d 100644 --- a/scripts/configs/pred_invention_vlm.yaml +++ b/scripts/configs/pred_invention_vlm.yaml @@ -47,6 +47,38 @@ APPROACHES: # vlm_open_loop_use_training_demos: False ENVS: + kitchen_boil_kettle: + NAME: "kitchen" + FLAGS: + perceiver: "kitchen" + kitchen_goals: "boil_kettle" + kitchen_use_perfect_samplers: True + kitchen_render_set_of_marks: True + kitchen_use_combo_move_nsrts: True + kitchen_randomize_init_state: True + bilevel_plan_without_sim: True + segmenter: option_changes + grammar_search_vlm_atom_label_prompt_type: img_option_diffs_label_history + grammar_search_task_planning_timeout: 3.0 + sesame_max_skeletons_optimized: 5 + disable_harmlessness_check: True + excluded_predicates: all + grammar_search_vlm_atom_proposal_use_debug: False + grammar_search_prune_redundant_preds: True + grammar_search_predicate_cost_upper_bound: 13 + allow_state_allclose_comparison_despite_simulator_state: True + grammar_search_max_predicates: 100 + grammar_search_parallelize_vlm_labeling: True + grammar_search_use_handcoded_debug_grammar: False + grammar_search_select_all_debug: False + cluster_and_intersect_soft_intersection_for_preconditions: True + grammar_search_grammar_includes_givens: False + cluster_and_intersect_prune_low_data_pnads: True + cluster_and_intersect_min_datastore_fraction: 0.05 + num_train_tasks: 3 + precondition_soft_intersection_threshold_percent: 0.8 + vlm_double_check_output: True + grammar_search_early_termination_heuristic_thresh: 100 # burger_no_move_more_stacks: # NAME: "burger_no_move" # FLAGS: @@ -143,38 +175,6 @@ ENVS: # precondition_soft_intersection_threshold_percent: 0.8 # grammar_search_early_termination_heuristic_thresh: 2000 # vlm_double_check_output: True - kitchen_boil_kettle: - NAME: "kitchen" - FLAGS: - perceiver: "kitchen" - kitchen_goals: "boil_kettle" - kitchen_use_perfect_samplers: True - kitchen_render_set_of_marks: True - kitchen_use_combo_move_nsrts: True - kitchen_randomize_init_state: True - bilevel_plan_without_sim: True - segmenter: option_changes - grammar_search_vlm_atom_label_prompt_type: img_option_diffs_label_history - grammar_search_task_planning_timeout: 3.0 - sesame_max_skeletons_optimized: 5 - disable_harmlessness_check: True - excluded_predicates: all - grammar_search_vlm_atom_proposal_use_debug: False - grammar_search_prune_redundant_preds: True - grammar_search_predicate_cost_upper_bound: 13 - allow_state_allclose_comparison_despite_simulator_state: True - grammar_search_max_predicates: 100 - grammar_search_parallelize_vlm_labeling: True - grammar_search_use_handcoded_debug_grammar: False - grammar_search_select_all_debug: False - cluster_and_intersect_soft_intersection_for_preconditions: True - grammar_search_grammar_includes_givens: False - cluster_and_intersect_prune_low_data_pnads: True - cluster_and_intersect_min_datastore_fraction: 0.05 - num_train_tasks: 3 - precondition_soft_intersection_threshold_percent: 0.8 - vlm_double_check_output: True - grammar_search_early_termination_heuristic_thresh: 100 ARGS: [] FLAGS: @@ -182,5 +182,5 @@ FLAGS: num_test_tasks: 10 save_eval_trajs: False START_SEED: 0 -NUM_SEEDS: 1 +NUM_SEEDS: 5 ...