try this?

Learning-and-Intelligent-Systems · Oct 18, 2023 · c35023c · c35023c
1 parent ac5d87d
commit c35023c
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Showing 3 changed files with 22 additions and 11 deletions.
diff --git a/predicators/envs/sticky_table.py b/predicators/envs/sticky_table.py
@@ -191,7 +191,7 @@ def simulate(self, state: State, action: Action) -> State:
                         if self._table_is_sticky(table, state):
                             # Check if placing on the smooth side of the sticky table.
                             table_y = state.get(table, "y")
-                            if self.sticky_surface_mode == "half" and act_y < table_y + 0.35 * (state.get(table, "radius") - (state.get(cube, "size") / 2)):
+                            if self.sticky_surface_mode == "half" and act_y < table_y + 0.4 * (state.get(table, "radius") - (state.get(cube, "size") / 2)):
                                 if obj_being_held in [cube, cup]:
                                     fall_prob = self._place_smooth_fall_prob
                                 else:

diff --git a/predicators/utils.py b/predicators/utils.py
@@ -305,20 +305,31 @@ def construct_active_sampler_input(state: State, objects: Sequence[Object],
                 robot_x = state.get(robot, "x")
                 table_y = state.get(table, "y")
                 table_x = state.get(table, "x")
+                ball_x = state.get(ball, "x")
+                ball_y = state.get(ball, "y")
+                cup_x = state.get(cup, "x")
+                cup_y = state.get(cup, "y")
                 sticky = state.get(table, "sticky")
                 table_radius = state.get(table, "radius")
                 a, b, c, param_x, param_y = params
                 sampler_input_lst.append(table_radius)
                 sampler_input_lst.append(sticky)
-                sampler_input_lst.append(robot_x)
-                sampler_input_lst.append(robot_y)
-                sampler_input_lst.append(table_x)
-                sampler_input_lst.append(table_y)
-                sampler_input_lst.append(a)
-                sampler_input_lst.append(b)
-                sampler_input_lst.append(c)
-                sampler_input_lst.append(param_x)
-                sampler_input_lst.append(param_y)
+                # sampler_input_lst.append(ball_x)
+                # sampler_input_lst.append(ball_y)
+                # sampler_input_lst.append(cup_x)
+                # sampler_input_lst.append(cup_y)
+                # sampler_input_lst.append(robot_x)
+                # sampler_input_lst.append(robot_y)
+                # sampler_input_lst.append(table_x)
+                # sampler_input_lst.append(table_y)
+                # sampler_input_lst.append(a)
+                # sampler_input_lst.append(b)
+                # sampler_input_lst.append(c)
+                # sampler_input_lst.append(param_x)
+                # sampler_input_lst.append(param_y)
+                sampler_input_lst.append(param_x - table_x)
+                sampler_input_lst.append(param_y - table_y)
+
             # if "Place" in param_option.name and "Table" in param_option.name:
             #     table = objects[-1]
             #     robot = objects[0]

diff --git a/scripts/configs/active_sampler_learning.yaml b/scripts/configs/active_sampler_learning.yaml
@@ -90,6 +90,6 @@ FLAGS:
   sesame_task_planner: "fdopt-costs"
   sesame_grounder: "fd_translator"
   horizon: 8
-  active_sampler_learning_feature_selection: oracle
+  active_sampler_learning_feature_selection: all
 START_SEED: 456
 NUM_SEEDS: 10