Addressing homers comments

experiments/homer/bridge/eval.py

@@ -43,7 +43,7 @@
     "Where to cache checkpoints downloaded from GCS",
 )
 flags.DEFINE_string(
-    "modality", "", "Either 'g' (for goals) or 'l' (for language) or '' to prompt"
+    "modality", "", "Either 'g', 'goal', 'l', 'language' (leave empty to prompt when running)"
 )
 
 flags.DEFINE_integer("im_size", None, "Image size", required=True)
@@ -66,10 +66,10 @@
 
 ##############################################################################
 
-"""
-Bridge data was collected with non-blocking control and a step duration of 0.2s. 
-However, we relabel the actions to make it look like the data was collected with blocking control and we evaluate with blocking control. 
-We also use a step duration of 0.4s to reduce the jerkiness of the policy. 
+STEP_DURATION_MESSAGE = """
+Bridge data was collected with non-blocking control and a step duration of 0.2s.
+However, we relabel the actions to make it look like the data was collected with blocking control and we evaluate with blocking control.
+We also use a step duration of 0.4s to reduce the jerkiness of the policy.
 Be sure to change the step duration back to 0.2 if evaluating with non-blocking control.
 """
 STEP_DURATION = 0.4
@@ -210,6 +210,9 @@ def main(_):
     assert len(FLAGS.checkpoint_weights_path) == len(FLAGS.checkpoint_step)
     FLAGS.modality = FLAGS.modality[:1]
     assert FLAGS.modality in ["g", "l", ""]
+    if not FLAGS.blocking:
+        assert STEP_DURATION == 0.2, STEP_DURATION_MESSAGE
+
     # policies is a dict from run_name to policy function
     policies = {}
     for (checkpoint_weights_path, checkpoint_step,) in zip(
@@ -264,7 +267,6 @@ def main(_):
             for i, name in enumerate(policies.keys()):
                 print(f"{i}) {name}")
             policy_idx = click.prompt("Select policy", type=int)
-            # policy_idx = int(input("select policy: "))
 
         policy_name = list(policies.keys())[policy_idx]
         policy_fn, model = policies[policy_name]

experiments/homer/scripts/eval.sh

@@ -1,4 +1,4 @@
-NAMES=(
+PATHS=(
     "gs://rail-dibya-central2/experiment_output/oxe_sweep/bridge_vits_20231111_165439"
     "gs://rail-dibya-central2/experiment_output/oxe_sweep/bridge_baseline_20231112_025236"
     "gs://rail-dibya-central2/experiment_output/oxe_sweep/bridge_jaxrlm_baseline_20231112_073307"