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NishanthJKumarNishanthJKumar
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get launch script working
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‎scripts/configs/pred_invention_vlm.yaml‎

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# Experiments to test predicate invention with VLMs
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---
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APPROACHES:
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ours:
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NAME: "grammar_search_invention"
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FLAGS:
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grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse_coffee
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offline_data_method: geo_and_demo_with_vlm_imgs
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grammar_search_invent_geo_predicates_only: False
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# ours-vlm-subselection:
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# NAME: "grammar_search_invention"
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# FLAGS:
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# grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_specific
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# offline_data_method: geo_and_demo_with_vlm_imgs
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# grammar_search_invent_geo_predicates_only: True
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# ours-no-subselection:
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# NAME: "grammar_search_invention"
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# FLAGS:
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# grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse
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# offline_data_method: geo_and_demo_with_vlm_imgs
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# grammar_search_pred_selection_approach: no_select
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# grammar_search_invent_geo_predicates_only: False
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# ours-no-invent:
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# NAME: "nsrt_learning"
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# FLAGS: {}
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# ours-no-visual:
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# NAME: "grammar_search_invention"
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# FLAGS:
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# offline_data_method: demo
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# ours-no-geo:
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# NAME: "grammar_search_invention"
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# FLAGS:
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# grammar_search_vlm_atom_proposal_prompt_type: demo_with_vlm_imgs
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# grammar_search_invent_geo_predicates_only: False
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# interpret:
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# NAME: "grammar_search_invention"
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# FLAGS:
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# offline_data_method: demo_with_vlm_imgs
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# vlm_predicate_vision_api_generate_ground_atoms: True
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# vila-with-fewshot:
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# NAME: "vlm_open_loop"
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# FLAGS:
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# vlm_open_loop_use_training_demos: True
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# vila-pure:
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# NAME: "vlm_open_loop"
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# FLAGS:
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# vlm_open_loop_use_training_demos: False
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ENVS:
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# burger_no_move_more_stacks:
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# NAME: "burger_no_move"
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# FLAGS:
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# burger_no_move_task_type: "more_stacks"
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# bilevel_plan_without_sim: True
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# segmenter: option_changes
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# grammar_search_vlm_atom_label_prompt_type: img_option_diffs_label_history_burger
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# grammar_search_task_planning_timeout: 10.0
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# sesame_max_skeletons_optimized: 200
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# disable_harmlessness_check: True
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# sesame_task_planner: fdopt
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# excluded_predicates: all
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# option_model_terminate_on_repeat: False
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# grammar_search_vlm_atom_proposal_use_debug: False
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# allow_exclude_goal_predicates: True
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# grammar_search_prune_redundant_preds: True
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# grammar_search_predicate_cost_upper_bound: 13
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# allow_state_allclose_comparison_despite_simulator_state: True
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# grammar_search_max_predicates: 100
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# grammar_search_parallelize_vlm_labeling: True
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# grammar_search_use_handcoded_debug_grammar: False
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# grammar_search_select_all_debug: False
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# cluster_and_intersect_soft_intersection_for_preconditions: True
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# vlm_include_cropped_images: True
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# timeout: 80
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# grammar_search_grammar_includes_givens: False
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# cluster_and_intersect_prune_low_data_pnads: True
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# cluster_and_intersect_min_datastore_fraction: 0.05
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# num_train_tasks: 12 # 8 for VILA
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# precondition_soft_intersection_threshold_percent: 0.8
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# grammar_search_early_termination_heuristic_thresh: 2000
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# vlm_double_check_output: True
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# burger_no_move_fatter_burger:
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# NAME: "burger_no_move"
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# FLAGS:
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# burger_no_move_task_type: "fatter_burger"
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# bilevel_plan_without_sim: True
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# segmenter: option_changes
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# grammar_search_vlm_atom_label_prompt_type: img_option_diffs_label_history_burger
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# grammar_search_task_planning_timeout: 10.0
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# sesame_max_skeletons_optimized: 200
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# disable_harmlessness_check: True
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# sesame_task_planner: fdopt
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# excluded_predicates: all
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# option_model_terminate_on_repeat: False
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# grammar_search_vlm_atom_proposal_use_debug: False
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# allow_exclude_goal_predicates: True
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# grammar_search_prune_redundant_preds: True
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# grammar_search_predicate_cost_upper_bound: 13
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# allow_state_allclose_comparison_despite_simulator_state: True
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# grammar_search_max_predicates: 100
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# grammar_search_parallelize_vlm_labeling: True
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# grammar_search_use_handcoded_debug_grammar: False
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# grammar_search_select_all_debug: False
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# cluster_and_intersect_soft_intersection_for_preconditions: True
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# vlm_include_cropped_images: True
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# timeout: 80
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# grammar_search_grammar_includes_givens: False
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# cluster_and_intersect_prune_low_data_pnads: True
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# cluster_and_intersect_min_datastore_fraction: 0.05
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# num_train_tasks: 12 # 9 for VILA
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# precondition_soft_intersection_threshold_percent: 0.8
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# grammar_search_early_termination_heuristic_thresh: 2000
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# vlm_double_check_output: True
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# burger_no_move_combo_burger:
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# NAME: "burger_no_move"
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# FLAGS:
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# burger_no_move_task_type: "combo_burger"
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# bilevel_plan_without_sim: True
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# segmenter: option_changes
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# grammar_search_vlm_atom_label_prompt_type: img_option_diffs_label_history_burger
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# grammar_search_task_planning_timeout: 10.0
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# sesame_max_skeletons_optimized: 200
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# disable_harmlessness_check: True
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# sesame_task_planner: fdopt
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# excluded_predicates: all
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# option_model_terminate_on_repeat: False
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# grammar_search_vlm_atom_proposal_use_debug: False
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# allow_exclude_goal_predicates: True
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# grammar_search_prune_redundant_preds: True
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# grammar_search_predicate_cost_upper_bound: 13
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# allow_state_allclose_comparison_despite_simulator_state: True
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# grammar_search_max_predicates: 100
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# grammar_search_parallelize_vlm_labeling: True
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# grammar_search_use_handcoded_debug_grammar: False
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# grammar_search_select_all_debug: False
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# cluster_and_intersect_soft_intersection_for_preconditions: True
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# vlm_include_cropped_images: True
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# timeout: 80
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# grammar_search_grammar_includes_givens: False
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# cluster_and_intersect_prune_low_data_pnads: True
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# cluster_and_intersect_min_datastore_fraction: 0.05
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# num_train_tasks: 12 # 8 for VILA
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# precondition_soft_intersection_threshold_percent: 0.8
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# grammar_search_early_termination_heuristic_thresh: 2000
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# vlm_double_check_output: True
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coffee:
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NAME: "pybullet_coffee"
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FLAGS:
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pretrained_model_prompt_cache_dir: "pretrained_model_cache/coffee"
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bilevel_plan_without_sim: True
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segmenter: option_changes
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grammar_search_vlm_atom_label_prompt_type: img_option_diffs_label_history
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grammar_search_task_planning_timeout: 10.0
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sesame_max_skeletons_optimized: 200
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disable_harmlessness_check: True
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excluded_predicates: all
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option_model_terminate_on_repeat: False
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grammar_search_vlm_atom_proposal_use_debug: False
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allow_exclude_goal_predicates: True
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grammar_search_prune_redundant_preds: True
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grammar_search_predicate_cost_upper_bound: 5
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allow_state_allclose_comparison_despite_simulator_state: True
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grammar_search_max_predicates: 100
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grammar_search_parallelize_vlm_labeling: True
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grammar_search_use_handcoded_debug_grammar: False
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grammar_search_select_all_debug: False
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cluster_and_intersect_soft_intersection_for_preconditions: True
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precondition_soft_intersection_threshold_percent: 0.8
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vlm_include_cropped_images: False
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timeout: 80
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grammar_search_grammar_includes_givens: False
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cluster_and_intersect_prune_low_data_pnads: True
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cluster_and_intersect_min_datastore_fraction: 0.05
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num_train_tasks: 5
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grammar_search_early_termination_heuristic_thresh: 20
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vlm_double_check_output: True
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coffee_rotated_jug_ratio: 0.5
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coffee_jug_pickable_pred: True
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pybullet_control_mode: reset
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coffee_twist_sampler: False
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pybullet_camera_height: 900
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pybullet_camera_width: 900
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rgb_observation: True
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render_init_state: True
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pybullet_coffee_update_camera: True
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excluded_predicates: JugFilled,JugInMachine,MachineOn,Twisting
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grammar_search_vlm_atom_proposal_use_debug: False
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llm_openai_max_response_tokens: 1000
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coffee_combined_move_and_twist_policy: True
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# burger_no_move_combo_burger:
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# NAME: "burger_no_move"
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# FLAGS:
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# burger_no_move_task_type: "combo_burger"
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# bilevel_plan_without_sim: True
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# segmenter: option_changes
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# grammar_search_vlm_atom_label_prompt_type: img_option_diffs_label_history_burger
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# grammar_search_task_planning_timeout: 10.0
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# sesame_max_skeletons_optimized: 200
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# disable_harmlessness_check: True
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# sesame_task_planner: fdopt
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# excluded_predicates: all
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# option_model_terminate_on_repeat: False
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# grammar_search_vlm_atom_proposal_use_debug: False
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# allow_exclude_goal_predicates: True
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# grammar_search_prune_redundant_preds: True
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# grammar_search_predicate_cost_upper_bound: 13
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# allow_state_allclose_comparison_despite_simulator_state: True
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# grammar_search_max_predicates: 100
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# grammar_search_parallelize_vlm_labeling: True
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# grammar_search_use_handcoded_debug_grammar: False
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# grammar_search_select_all_debug: False
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# cluster_and_intersect_soft_intersection_for_preconditions: True
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# vlm_include_cropped_images: True
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# timeout: 80
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# grammar_search_grammar_includes_givens: False
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# cluster_and_intersect_prune_low_data_pnads: True
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# cluster_and_intersect_min_datastore_fraction: 0.05
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# num_train_tasks: 12
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# precondition_soft_intersection_threshold_percent: 0.8
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# grammar_search_early_termination_heuristic_thresh: 2000
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# vlm_double_check_output: True
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# kitchen_boil_kettle:
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# NAME: "kitchen"
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# FLAGS:
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# perceiver: "kitchen"
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# kitchen_goals: "boil_kettle"
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# kitchen_use_perfect_samplers: True
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# kitchen_render_set_of_marks: True
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# kitchen_use_combo_move_nsrts: True
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# kitchen_randomize_init_state: True
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# bilevel_plan_without_sim: True
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# segmenter: option_changes
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# grammar_search_vlm_atom_label_prompt_type: img_option_diffs_label_history
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# grammar_search_task_planning_timeout: 3.0
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# sesame_max_skeletons_optimized: 5
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# disable_harmlessness_check: True
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# excluded_predicates: all
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# grammar_search_vlm_atom_proposal_use_debug: False
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# grammar_search_prune_redundant_preds: True
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# grammar_search_predicate_cost_upper_bound: 13
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# allow_state_allclose_comparison_despite_simulator_state: True
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# grammar_search_max_predicates: 100
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# grammar_search_parallelize_vlm_labeling: True
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# grammar_search_use_handcoded_debug_grammar: False
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# grammar_search_select_all_debug: False
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# cluster_and_intersect_soft_intersection_for_preconditions: True
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# grammar_search_grammar_includes_givens: False
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# cluster_and_intersect_prune_low_data_pnads: True
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# cluster_and_intersect_min_datastore_fraction: 0.05
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# num_train_tasks: 3
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# precondition_soft_intersection_threshold_percent: 0.8
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# vlm_double_check_output: True
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# grammar_search_early_termination_heuristic_thresh: 100
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ARGS:
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[]
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# - "debug"
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FLAGS:
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vlm_model_name: gpt-4o
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num_test_tasks: 10
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save_eval_trajs: False
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START_SEED: 0
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NUM_SEEDS: 5
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...

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