try a bunch of random baselines to see if any break

Author: NishanthJKumar

scripts/configs/pred_invention_vlm.yaml

@@ -7,44 +7,44 @@ APPROACHES:
     #   grammar_search_vlm_atom_proposal_prompt_type: options_labels_whole_traj_diverse_coffee
     #   offline_data_method: geo_and_demo_with_vlm_imgs
     #   grammar_search_invent_geo_predicates_only: 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:
-  #   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: {}
-  # ours-no-visual:
-  #   NAME: "grammar_search_invention"
-  #   FLAGS: 
-  #     offline_data_method: demo
-  # ours-no-geo:
-  #   NAME: "grammar_search_invention"
-  #   FLAGS:
-  #     grammar_search_vlm_atom_proposal_prompt_type: demo_with_vlm_imgs
-  #     grammar_search_invent_geo_predicates_only: False
+  vila-pure:
+    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:
+    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: {}
+  ours-no-visual:
+    NAME: "grammar_search_invention"
+    FLAGS: 
+      offline_data_method: demo
+  ours-no-geo:
+    NAME: "grammar_search_invention"
+    FLAGS:
+      grammar_search_vlm_atom_proposal_prompt_type: demo_with_vlm_imgs
+      grammar_search_invent_geo_predicates_only: False
   # interpret:
   #   NAME: "grammar_search_invention"
   #   FLAGS:
   #     offline_data_method: demo_with_vlm_imgs
   #     vlm_predicate_vision_api_generate_ground_atoms: True
-  vila-with-fewshot:
-    NAME: "vlm_open_loop"
-    FLAGS:
-      vlm_open_loop_use_training_demos: True
-  vila-pure:
-    NAME: "vlm_open_loop"
-    FLAGS:
-      vlm_open_loop_use_training_demos: False
+  # vila-with-fewshot:
+  #   NAME: "vlm_open_loop"
+  #   FLAGS:
+  #     vlm_open_loop_use_training_demos: True
 
 ENVS:
   # burger_no_move_more_stacks: