rerun new vila results on burger envs

Learning-and-Intelligent-Systems · Nov 3, 2024 · 862ce81 · 862ce81
1 parent 1009d77
commit 862ce81
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Showing 2 changed files with 110 additions and 110 deletions.
diff --git a/scripts/cluster_utils.py b/scripts/cluster_utils.py
@@ -145,7 +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 []
+    # 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
@@ -47,119 +47,21 @@ 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
-  #     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"
+  burger_no_move_more_stacks:
+    NAME: "burger_no_move"
     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
+      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
-      grammar_search_task_planning_timeout: 3.0
-      sesame_max_skeletons_optimized: 5
+      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
@@ -168,13 +70,111 @@ ENVS:
       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: 3
+      num_train_tasks: 12
       precondition_soft_intersection_threshold_percent: 0.8
+      grammar_search_early_termination_heuristic_thresh: 2000
       vlm_double_check_output: True
-      grammar_search_early_termination_heuristic_thresh: 100
+  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:
+  #     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: