no-subselect baseline

Author: NishanthJKumar

scripts/configs/pred_invention_vlm.yaml

@@ -11,19 +11,19 @@ APPROACHES:
   #   NAME: "vlm_open_loop"
   #   FLAGS:
   #     vlm_open_loop_use_training_demos: 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:
+  # ours-vlm-subselection:
   #   NAME: "grammar_search_invention"
   #   FLAGS:
-  #     grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse
+  #     grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_specific
   #     offline_data_method: geo_and_demo_with_vlm_imgs
-  #     grammar_search_pred_selection_approach: no_select
-  #     grammar_search_invent_geo_predicates_only: False
+  #     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: {}