Skill Learning (June 2022)
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},
}