From 862ce814e53c48559b3ddbb212aff790158d8297 Mon Sep 17 00:00:00 2001 From: Nishanth Kumar Date: Sun, 3 Nov 2024 11:38:33 -0500 Subject: [PATCH] rerun new vila results on burger envs --- scripts/cluster_utils.py | 2 +- scripts/configs/pred_invention_vlm.yaml | 218 ++++++++++++------------ 2 files changed, 110 insertions(+), 110 deletions(-) diff --git a/scripts/cluster_utils.py b/scripts/cluster_utils.py index e765c9c8f..d62451e96 100644 --- 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 index d817bcc48..14e513999 100644 --- 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: