Implement pick and place tasks + some improvements and fixes #289
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…; we need to figure out a better way to sync later!
…e-eval # Conflicts: # predicators/pretrained_model_interface.py # setup.py
…, only update these predicates
…dicate and VLMGroundAtom
… lis-spot/pick-place-task-and-improve # Conflicts: # predicators/spot_utils/skills/spot_find_objects.py
lf-zhao
requested review from
nkumar-bdai,
wmcclinton and
tsilver-bdai
as code owners
lf-zhao
changed the base branch from
lis-spot/update-vlm-predicate-pipeline
to
master
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This builds on top of PR #285 (#285), which has not been merged yet.
The runtime pipeline is similar as #285, but it fixes some issues that appear in Spot pick and place task.
Command:
--spot_robot_ip 192.168.80.3 --spot_graph_nav_map b45-621 --env lis_spot_block_bowl_env --approach spot_wrapper[oracle] --bilevel_plan_without_sim True --seed 0 --perceiver spot_perceiver --spot_vlm_eval_predicate True --vlm_eval_verbose True --num_train_tasks 0 --num_test_tasks 1Changes compared to #285: