# Robotic Manipulation Experiments for TADPoLe
> This repo is only used for running MetaWorld Experiments with TADPoLe and VLM-RM
## Usage
To launch experiments for TADPoLe:
```python
python train.py task='metaworld-drawer-open' \
                text_prompt='a robot arm is opening the drawer' \
                reward_method='sd-tadpole' \
                exp_name='tadpole-drawer-open' \
                seed=1
                
```

To launch experiments for VLM-RM:
```python
python train.py task='metaworld-drawer-open' \
                text_prompt='a robot arm is opening the drawer' \
                reward_method='clip' \
                exp_name='vlm-rm-drawer-open' \
                seed=1
```