Merge with upstream vlm changes #287
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…gent-Systems#1634) * lots of changes with noise-based learning! * Just keep low-datastore operator pruning in cluster and intersect. * Clean up code. * Add test and clean up code. * Fix rebase issues in settings.py --------- Co-authored-by: Nishanth Kumar <nishanth.kumar20@gmail.com>
…ntelligent-Systems#1629) * Initial commit. * Add test. * Change name of image directory setting. * Add test. * Fix test.
… demos (Learning-and-Intelligent-Systems#1635) * good to go! * yapf + linting * ashay comments!
…ng (Learning-and-Intelligent-Systems#1642) * that was such a small fix for such a long rabbit hole rip * revert * yapf * prevent weird yapf error
…1643) * init implementation seemingly works in kitchen! * tom suggestion * should be good to go! * tom feedback
…t-Systems#1645) * might be gtg?? * fix checks * tom feedback
* progress; but next steps need to be figured out * plumbing done, but doesn't really work? * kitchen works! * good to go! * good to go! * works now!
* add OpenAI VLM based on the existing interface; manual merge from BDAI predicators * add test VLM predicate image * formatting * add a small test as other vlm/llm * move the example usage to test file * update requirement, tenacity * auto reformat * fix * update * fix * fix test * fix * update openai version * done! * weird flush cache issue --------- Co-authored-by: Nishanth Kumar <NishanthJKumar@users.noreply.github.com> Co-authored-by: Nishanth Kumar <nishanth.kumar20@gmail.com>
…telligent-Systems#1649) * [wip] save states and use known predicates in vlm pipeline * test fixes * actually save * fix * laziness * push a bunch of fixes * fixes txt issue * all bugs fixed! * fix mypy * gtg! --------- Co-authored-by: Nishanth Kumar <nishanth.kumar20@gmail.com>
…s for environments (Learning-and-Intelligent-Systems#1652) * good to go i think? * good to go! * revert gitignore change
…rning-and-Intelligent-Systems#1650) * Initial commit. * Add rendering and human data collection. * Add patty and make rendering change after patty is cooked. * Reset hidden state properly and use images for more of the objects. * Start adding other items. * Add grill and cutting board. * Add facing predicate. * Add picking and placing. * Fix zorder stuff when picking and placing. * Add turning. * Improve rendering when stacking items. * Change interaction rules so you can only interact when item is on the appropriate station. * Add more predicates. * Fix goal and add some predicates. * Fix if statement syntax. * Start implementing nsrts and options. * Progress. * Progress. * More progres... * Get simple oracle pick option/nsrt/goal working. * Fix type check for unary free for all classifier to work with hierarchiy of types. * Start adding a place operator, but stop and instead pivot to first adding a dedicated move operator. * Progress towards adding a move skill. * Update move policy to use run_heuristic_search properly. * Get move skill working properly. * Get pick, place, move working. About to add cook. * Add cook. * Make slight changes to oracle to enable longer demo. * Fix up oracle nsrts and options. * Change goal to something that works so that Nishanth can run it and see it working. * Get a manual plan to work using oracle nsrts/options. * Get rid of using manual plan. * Add more NSRTs to cut down on the number of skeletons -- but one skeleton still takes a long time to find. * Progress towards cleaning up code and refactoring a bit. * Improve code and comments towards a PR. * Run autoformatter. * Get everything except coverage tests to pass. * Create test. * Add test. * Restore file. * Fix test. * Add to tests. * Update tests. * Fix tests. * Remove prints. * yapf * Clean up. * Deal with comments. * Change names. * Fix. * yapf * Add missing test file after name change.
…Systems/predicators into merge-with-upstream-vlm
NishanthJKumar
requested review from
nkumar-bdai,
wmcclinton and
tsilver-bdai
as code owners
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necessary for multiple projects!