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@NishanthJKumar
NishanthJKumar committed Nov 29, 2024
1 parent f10203a commit 9913176
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Showing 3 changed files with 98 additions and 98 deletions.
1 change: 0 additions & 1 deletion predicators/approaches/grammar_search_invention_approach.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1044,7 +1044,6 @@ 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"
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1 change: 1 addition & 0 deletions scripts/cluster_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -106,6 +106,7 @@ 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"]
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194 changes: 97 additions & 97 deletions scripts/configs/pred_invention_vlm.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
# Experiments to test predicate invention with VLMs
---
APPROACHES:
ours:
# ours:
# NAME: "grammar_search_invention"
# FLAGS:
# grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse
Expand Down Expand Up @@ -48,70 +48,70 @@ APPROACHES:
# vlm_open_loop_use_training_demos: False

ENVS:
burger_no_move_more_stacks:
NAME: "burger_no_move"
FLAGS:
burger_no_move_task_type: "more_stacks"
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 # 8 for VILA
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_more_stacks:
# NAME: "burger_no_move"
# FLAGS:
# burger_no_move_task_type: "more_stacks"
# 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:
Expand Down Expand Up @@ -144,38 +144,38 @@ 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
# 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:
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