vlm-subselection-baseline

Author: NishanthJKumar

scripts/configs/pred_invention_vlm.yaml

@@ -7,35 +7,35 @@ 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
-  vila-pure:
-    NAME: "vlm_open_loop"
-    FLAGS:
-      vlm_open_loop_use_training_demos: 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
+  # 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:
@@ -259,7 +259,7 @@ ARGS:
 FLAGS: 
   vlm_model_name: gpt-4o
   num_test_tasks: 10
-  # save_eval_trajs: False
+  save_eval_trajs: False
 START_SEED: 1
 NUM_SEEDS: 1
 ...