fix

Learning-and-Intelligent-Systems · Nov 29, 2024 · 5fb0486 · 5fb0486
1 parent 9913176
commit 5fb0486
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Showing 2 changed files with 45 additions and 46 deletions.
diff --git a/scripts/cluster_utils.py b/scripts/cluster_utils.py
@@ -106,7 +106,6 @@ def generate_run_configs(config_filename: str,
             train_refinement_estimator = False
         # Loop over approaches.
         for approach_exp_id, approach_config in config["APPROACHES"].items():
-            import ipdb; ipdb.set_trace()
             if approach_config.get("SKIP", False):
                 continue
             approach = approach_config["NAME"]

diff --git a/scripts/configs/pred_invention_vlm.yaml b/scripts/configs/pred_invention_vlm.yaml
@@ -1,12 +1,12 @@
 # Experiments to test predicate invention with VLMs
 ---
 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:
+    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:
@@ -27,12 +27,12 @@ APPROACHES:
   #   NAME: "grammar_search_invention"
   #   FLAGS: 
   #     offline_data_method: demo
-  ours-no-geo:
-    NAME: "grammar_search_invention"
-    FLAGS:
-      grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse
-      offline_data_method: demo_with_vlm_imgs
-      grammar_search_invent_geo_predicates_only: False
+  # ours-no-geo:
+  #   NAME: "grammar_search_invention"
+  #   FLAGS:
+  #     grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse
+  #     offline_data_method: demo_with_vlm_imgs
+  #     grammar_search_invent_geo_predicates_only: False
   # interpret:
   #   NAME: "grammar_search_invention"
   #   FLAGS:
@@ -80,38 +80,38 @@ ENVS:
   #     precondition_soft_intersection_threshold_percent: 0.8
   #     grammar_search_early_termination_heuristic_thresh: 2000
   #     vlm_double_check_output: True
-  # burger_no_move_fatter_burger:
-  #   NAME: "burger_no_move"
-  #   FLAGS:
-  #     burger_no_move_task_type: "fatter_burger"
-  #     bilevel_plan_without_sim: True
-  #     segmenter: option_changes
-  #     grammar_search_vlm_atom_label_prompt_type: img_option_diffs_label_history_burger
-  #     grammar_search_task_planning_timeout: 10.0
-  #     sesame_max_skeletons_optimized: 200
-  #     disable_harmlessness_check: True
-  #     sesame_task_planner: fdopt
-  #     excluded_predicates: all
-  #     option_model_terminate_on_repeat: False
-  #     grammar_search_vlm_atom_proposal_use_debug: False
-  #     allow_exclude_goal_predicates: True
-  #     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
-  #     vlm_include_cropped_images: True
-  #     timeout: 80
-  #     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: 12
-  #     precondition_soft_intersection_threshold_percent: 0.8
-  #     grammar_search_early_termination_heuristic_thresh: 2000
-  #     vlm_double_check_output: True
+  burger_no_move_fatter_burger:
+    NAME: "burger_no_move"
+    FLAGS:
+      burger_no_move_task_type: "fatter_burger"
+      bilevel_plan_without_sim: True
+      segmenter: option_changes
+      grammar_search_vlm_atom_label_prompt_type: img_option_diffs_label_history_burger
+      grammar_search_task_planning_timeout: 10.0
+      sesame_max_skeletons_optimized: 200
+      disable_harmlessness_check: True
+      sesame_task_planner: fdopt
+      excluded_predicates: all
+      option_model_terminate_on_repeat: False
+      grammar_search_vlm_atom_proposal_use_debug: False
+      allow_exclude_goal_predicates: True
+      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
+      vlm_include_cropped_images: True
+      timeout: 80
+      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: 12
+      precondition_soft_intersection_threshold_percent: 0.8
+      grammar_search_early_termination_heuristic_thresh: 2000
+      vlm_double_check_output: True
   burger_no_move_combo_burger:
     NAME: "burger_no_move"
     FLAGS:
@@ -183,5 +183,5 @@ FLAGS:
   num_test_tasks: 10
   save_eval_trajs: False
 START_SEED: 0
-NUM_SEEDS: 5
+NUM_SEEDS: 1
 ...