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Skill Learning (June 2022)

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Learning Neuro-Symbolic Skills for Bilevel Planning

Paper: http://arxiv.org/abs/2206.10680

Requirements

  • Python 3.8+
  • Code tested on Ubuntu 18.04 and MacOS Big Sur

Installation

  • Virtual environments recommended
  • pip install requirements.txt
  • export PYTHONHASHSEED=0
  • export PYTHONPATH="${PYTHONPATH}:</path/to/this/folder/>

Running

Example:

python src/main.py --env cover_multistep_options --num_train_tasks 250 \
    --seed 0 --approach nsrt_learning --option_learner direct_bc \
    --min_perc_data_for_nsrt 1 --segmenter contacts --timeout 300

Other environment names:

  • doors (add flags: --included_options MoveToDoor,MoveThroughDoor)
  • stick_button
  • coffee

Citation

@misc{silver2022learning,
      title={Learning Neuro-Symbolic Skills for Bilevel Planning}, 
      author={Tom Silver and Ashay Athalye and Joshua B. Tenenbaum and Tomas Lozano-Perez and Leslie Pack Kaelbling},
      year={2022},
      eprint={2206.10680},
}