From b8f7a514298148aee9606f2eb04044d0dbbed024 Mon Sep 17 00:00:00 2001 From: Nishanth Kumar Date: Thu, 21 Nov 2024 15:49:48 -0500 Subject: [PATCH] running to get command so I can look at qualitative results --- scripts/cluster_utils.py | 1 + scripts/configs/pred_invention_vlm.yaml | 270 ++++++++++++------------ 2 files changed, 136 insertions(+), 135 deletions(-) diff --git a/scripts/cluster_utils.py b/scripts/cluster_utils.py index 94f1ece871..e765c9c8fa 100644 --- a/scripts/cluster_utils.py +++ b/scripts/cluster_utils.py @@ -145,6 +145,7 @@ def generate_run_configs(config_filename: str, def get_cmds_to_prep_repo(branch: str) -> List[str]: """Get the commands that should be run while already in the repository but before launching the experiments.""" + return [] old_dir_pattern = " ".join(f"{d}/" for d in SAVE_DIRS) return [ "git stash", diff --git a/scripts/configs/pred_invention_vlm.yaml b/scripts/configs/pred_invention_vlm.yaml index cae3e30911..eb7d96f62c 100644 --- a/scripts/configs/pred_invention_vlm.yaml +++ b/scripts/configs/pred_invention_vlm.yaml @@ -1,148 +1,148 @@ # 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: 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: - 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 + # 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: + # 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: - 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_combo_burger: - NAME: "burger_no_move" - FLAGS: - burger_no_move_task_type: "combo_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 # 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_combo_burger: + # NAME: "burger_no_move" + # FLAGS: + # burger_no_move_task_type: "combo_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 kitchen_boil_kettle: NAME: "kitchen" FLAGS: @@ -182,5 +182,5 @@ FLAGS: num_test_tasks: 10 save_eval_trajs: False START_SEED: 0 -NUM_SEEDS: 5 +NUM_SEEDS: 1 ...