From 42c2bad2b9fdcacbbb60da92dae85839a286c026 Mon Sep 17 00:00:00 2001
From: NishanthJKumar <nishanth.kumar20@gmail.com>
Date: Fri, 29 Nov 2024 09:43:56 -0500
Subject: [PATCH] good to go!

---
 .../grammar_search_invention_approach.py      |  1 +
 scripts/configs/pred_invention_vlm.yaml       | 79 ++++++++++---------
 2 files changed, 41 insertions(+), 39 deletions(-)

diff --git a/predicators/approaches/grammar_search_invention_approach.py b/predicators/approaches/grammar_search_invention_approach.py
index 5197ce575..a348f4d77 100644
--- a/predicators/approaches/grammar_search_invention_approach.py
+++ b/predicators/approaches/grammar_search_invention_approach.py
@@ -1044,6 +1044,7 @@ def _rename_predicates_to_remove_incompatible_chars(
         return renamed_predicates
 
     def learn_from_offline_dataset(self, dataset: Dataset) -> None:
+        import ipdb; ipdb.set_trace()
         if CFG.offline_data_method in [
                 "geo_and_demo_with_vlm_imgs", "geo_and_demo+labelled_atoms",
                 "geo_and_saved_vlm_img_demos_folder"
diff --git a/scripts/configs/pred_invention_vlm.yaml b/scripts/configs/pred_invention_vlm.yaml
index cae3e3091..b02b17b64 100644
--- a/scripts/configs/pred_invention_vlm.yaml
+++ b/scripts/configs/pred_invention_vlm.yaml
@@ -2,49 +2,50 @@
 ---
 APPROACHES:
   ours:
-    NAME: "grammar_search_invention"
-    FLAGS:
-      grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse
-      offline_data_method: geo_and_demo_with_vlm_imgs
-      grammar_search_invent_geo_predicates_only: False
-  ours-vlm-subselection:
-    NAME: "grammar_search_invention"
-    FLAGS:
-      grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_specific
-      offline_data_method: geo_and_demo_with_vlm_imgs
-      grammar_search_invent_geo_predicates_only: True
-  ours-no-subselection:
-    NAME: "grammar_search_invention"
-    FLAGS:
-      grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse
-      offline_data_method: geo_and_demo_with_vlm_imgs
-      grammar_search_pred_selection_approach: no_select
-      grammar_search_invent_geo_predicates_only: False
-  ours-no-invent:
-    NAME: "nsrt_learning"
-    FLAGS: {}
-  ours-no-visual:
-    NAME: "grammar_search_invention"
-    FLAGS: 
-      offline_data_method: demo
+  #   NAME: "grammar_search_invention"
+  #   FLAGS:
+  #     grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse
+  #     offline_data_method: geo_and_demo_with_vlm_imgs
+  #     grammar_search_invent_geo_predicates_only: False
+  # ours-vlm-subselection:
+  #   NAME: "grammar_search_invention"
+  #   FLAGS:
+  #     grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_specific
+  #     offline_data_method: geo_and_demo_with_vlm_imgs
+  #     grammar_search_invent_geo_predicates_only: True
+  # ours-no-subselection:
+  #   NAME: "grammar_search_invention"
+  #   FLAGS:
+  #     grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse
+  #     offline_data_method: geo_and_demo_with_vlm_imgs
+  #     grammar_search_pred_selection_approach: no_select
+  #     grammar_search_invent_geo_predicates_only: False
+  # ours-no-invent:
+  #   NAME: "nsrt_learning"
+  #   FLAGS: {}
+  # ours-no-visual:
+  #   NAME: "grammar_search_invention"
+  #   FLAGS: 
+  #     offline_data_method: demo
   ours-no-geo:
     NAME: "grammar_search_invention"
     FLAGS:
-      grammar_search_vlm_atom_proposal_prompt_type: demo_with_vlm_imgs
-      grammar_search_invent_geo_predicates_only: False
-  interpret:
-    NAME: "grammar_search_invention"
-    FLAGS:
+      grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse
       offline_data_method: demo_with_vlm_imgs
-      vlm_predicate_vision_api_generate_ground_atoms: True
-  vila-with-fewshot:
-    NAME: "vlm_open_loop"
-    FLAGS:
-      vlm_open_loop_use_training_demos: True
-  vila-pure:
-    NAME: "vlm_open_loop"
-    FLAGS:
-      vlm_open_loop_use_training_demos: False
+      grammar_search_invent_geo_predicates_only: False
+  # interpret:
+  #   NAME: "grammar_search_invention"
+  #   FLAGS:
+  #     offline_data_method: demo_with_vlm_imgs
+  #     vlm_predicate_vision_api_generate_ground_atoms: True
+  # vila-with-fewshot:
+  #   NAME: "vlm_open_loop"
+  #   FLAGS:
+  #     vlm_open_loop_use_training_demos: True
+  # vila-pure:
+  #   NAME: "vlm_open_loop"
+  #   FLAGS:
+  #     vlm_open_loop_use_training_demos: False
 
 ENVS:
   burger_no_move_more_stacks: