added yaml file

Learning-and-Intelligent-Systems · Oct 6, 2023 · fe29d45 · fe29d45
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diff --git a/predicators/utils.py b/predicators/utils.py
@@ -2622,7 +2622,7 @@ def save_video(outfile: str, video: Video) -> None:
     """Save the video to video_dir/outfile."""
     outdir = CFG.video_dir
     os.makedirs(outdir, exist_ok=True)
-    outpath = os.path.join(outdir, outfile)
+    outpath = os.path.join(outdir, str(CFG.seed) + "_" + outfile)
     imageio.mimwrite(outpath, video, fps=CFG.video_fps)  # type: ignore
     logging.info(f"Wrote out to {outpath}")
 

diff --git a/scripts/configs/behavior_20_videos.yaml b/scripts/configs/behavior_20_videos.yaml
@@ -0,0 +1,164 @@
+# A configuration file for 20 BEHAVIOR tasks.
+---
+APPROACHES:
+  my-oracle:
+    NAME: "oracle"
+    FLAGS:
+      sesame_task_planner: fdopt
+ENVS:
+  # installing_a_fax_machine-Pomaria_0_int:
+  #   NAME: "behavior"
+  #   FLAGS:
+  #     behavior_train_scene_name: Pomaria_0_int
+  #     behavior_test_scene_name: Pomaria_0_int
+  #     behavior_task_list: "[installing_a_fax_machine]"
+  #     behavior_option_model_eval: True
+  # locking_every_door-Pomaria_0_int:
+  #   NAME: "behavior"
+  #   FLAGS:
+  #     behavior_train_scene_name: Pomaria_0_int
+  #     behavior_test_scene_name: Pomaria_0_int
+  #     behavior_task_list: "[locking_every_door]"
+  #     behavior_option_model_eval: True
+  # locking_every_window-Rs_int:
+  #   NAME: "behavior"
+  #   FLAGS:
+  #     behavior_train_scene_name: Rs_int
+  #     behavior_test_scene_name: Rs_int
+  #     behavior_task_list: "[locking_every_window]"
+  #     behavior_option_model_eval: True
+  opening_packages-Pomaria_2_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Pomaria_2_int
+      behavior_test_scene_name: Pomaria_2_int
+      behavior_task_list: "[opening_packages]"
+      behavior_option_model_eval: True
+  opening_presents-Pomaria_2_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Pomaria_2_int
+      behavior_test_scene_name: Pomaria_2_int
+      behavior_task_list: "[opening_presents]"
+      behavior_option_model_eval: True
+  boxing_books_up_for_storage-Benevolence_1_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Benevolence_1_int
+      behavior_test_scene_name: Benevolence_1_int
+      behavior_task_list: "[boxing_books_up_for_storage]"
+      behavior_option_model_eval: True
+  collect_misplaced_items-Merom_1_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Merom_1_int
+      behavior_test_scene_name: Merom_1_int
+      behavior_task_list: "[collect_misplaced_items]"
+      behavior_option_model_eval: True
+  collecting_aluminum_cans-Benevolence_2_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Benevolence_2_int
+      behavior_test_scene_name: Benevolence_2_int
+      behavior_task_list: "[collecting_aluminum_cans]"
+      behavior_option_model_eval: True
+  organizing_file_cabinet-Pomaria_0_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Pomaria_0_int
+      behavior_test_scene_name: Pomaria_0_int
+      behavior_task_list: "[organizing_file_cabinet]"
+      behavior_option_model_eval: True
+  picking_up_trash-Wainscott_0_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Wainscott_0_int
+      behavior_test_scene_name: Wainscott_0_int
+      behavior_task_list: "[picking_up_trash]"
+      behavior_option_model_eval: True
+  polishing_furniture-Rs_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Rs_int
+      behavior_test_scene_name: Rs_int
+      behavior_task_list: "[polishing_furniture]"
+      behavior_option_model_eval: True
+  polishing_silver-Wainscott_0_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Wainscott_0_int
+      behavior_test_scene_name: Wainscott_0_int
+      behavior_task_list: "[polishing_silver]"
+      behavior_option_model_eval: True
+  putting_leftovers_away-Ihlen_1_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Ihlen_1_int
+      behavior_test_scene_name: Ihlen_1_int
+      behavior_task_list: "[putting_leftovers_away]"
+      behavior_option_model_eval: True
+  re-shelving_library_books-Pomaria_1_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Pomaria_1_int
+      behavior_test_scene_name: Pomaria_1_int
+      behavior_task_list: "[re-shelving_library_books]"
+      behavior_option_model_eval: True
+  sorting_books-Pomaria_1_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Pomaria_1_int
+      behavior_test_scene_name: Pomaria_1_int
+      behavior_task_list: "[sorting_books]"
+      behavior_option_model_eval: True
+  throwing_away_leftovers-Ihlen_1_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Ihlen_1_int
+      behavior_test_scene_name: Ihlen_1_int
+      behavior_task_list: "[throwing_away_leftovers]"
+      behavior_option_model_eval: True
+  unpacking_suitcase-Ihlen_1_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Ihlen_1_int
+      behavior_test_scene_name: Ihlen_1_int
+      behavior_task_list: "[unpacking_suitcase]"
+      behavior_option_model_eval: True
+  setting_mousetraps-Benevolence_2_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Benevolence_2_int
+      behavior_test_scene_name: Benevolence_2_int
+      behavior_task_list: "[setting_mousetraps]"
+      behavior_option_model_eval: True
+  cleaning_a_car-Ihlen_0_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Ihlen_0_int
+      behavior_test_scene_name: Ihlen_0_int
+      behavior_task_list: "[cleaning_a_car]"
+      behavior_option_model_eval: True
+  loading_the_dishwasher-Pomaria_1_int:
+    NAME: "behavior"
+    FLAGS:
+      behavior_train_scene_name: Pomaria_1_int
+      behavior_test_scene_name: Pomaria_1_int
+      behavior_task_list: "[loading_the_dishwasher]"
+      behavior_option_model_eval: True
+ARGS: {}
+FLAGS:  # general flags
+  offline_data_planning_timeout: 1000.0
+  timeout: 1000.0
+  horizon: 1000
+  behavior_override_learned_samplers: True
+  behavior_ignore_discover_failures: True
+  create_training_dataset: False
+  num_train_tasks: 0
+  num_test_tasks: 1
+  behavior_mode: simple
+  behavior_save_video: True
+  behavior_option_model_rrt: True
+START_SEED: 0
+NUM_SEEDS: 10
+USE_GPU: False