Ball and Cup Sticky Table Env #1576
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tomsilver
reviewed
Oct 24, 2023
…-and-Intelligent-Systems/predicators into ball-and-cup-sticky-table-clean
…-and-Intelligent-Systems/predicators into ball-and-cup-sticky-table-clean
tomsilver
approved these changes
Oct 27, 2023
| # call the policy, since we don't need to execute | ||
| # anything. | ||
| if len(goal) == 0: | ||
| return _option_policy(state) # pragma: no cover |
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i'm a little worried about adding this here if it's not covered. for example, are we certain that infinite recursion is impossible?
nkumar-bdai
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Oct 30, 2023
* freeze pytorch version to fix mypy crash (Learning-and-Intelligent-Systems#1563) * Implement infinite-horizon for exploration (Learning-and-Intelligent-Systems#1565) * simple initial implementation * fix checks * okay - really fix checks now * MyPy Bump and changes (Learning-and-Intelligent-Systems#1568) * minor changes to fix bugs (Learning-and-Intelligent-Systems#1569) * fix get_objects in hierarchical typing case (Learning-and-Intelligent-Systems#1572) Co-authored-by: Tom Silver <[email protected]> * fix hierarchical typing edge case (Learning-and-Intelligent-Systems#1574) * Fix + raise awareness of subtle bugs with active sampler exploration (Learning-and-Intelligent-Systems#1575) * fix subtle bugs * yapf * Ball and Cup Sticky Table Env (Learning-and-Intelligent-Systems#1576) * initial commit that seems to run without error... * fix bug in placing logic * delete outdated comment * fix replanning bug * more data = better results??? * starting tests * try oracle feature selection? * fix buggy test * increase training time? * yapf + fix tom comment * fix reachability issue in placing * minor * more unit tests * fix and more tests * this should be interesting * see if this yields a difference * let's see what happens now * woops * try removing placing cup with the ball on the table * hail mary * minor changes + logging * run task repeat first * sticky table with moving radius * yay! try other approaches... * polar coordinates ftw! * try a simpler thing * let's see how this does. * try more probability of success * all baselines * try running grid row env * most things passing * try this * progress towards PR * should be ready! * revert unnecessary change * fix linting * tom comments --------- Co-authored-by: Tom Silver <[email protected]> * allow third party users to define their own oracle NSRTs * test fixes * mypy --------- Co-authored-by: Nishanth Kumar <[email protected]> Co-authored-by: Bartłomiej Cieślar <[email protected]> Co-authored-by: Tom Silver <[email protected]>
nkumar-bdai
added a commit
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Nov 15, 2023
* freeze pytorch version to fix mypy crash (Learning-and-Intelligent-Systems#1563) * Implement infinite-horizon for exploration (Learning-and-Intelligent-Systems#1565) * simple initial implementation * fix checks * okay - really fix checks now * MyPy Bump and changes (Learning-and-Intelligent-Systems#1568) * minor changes to fix bugs (Learning-and-Intelligent-Systems#1569) * fix get_objects in hierarchical typing case (Learning-and-Intelligent-Systems#1572) Co-authored-by: Tom Silver <[email protected]> * fix hierarchical typing edge case (Learning-and-Intelligent-Systems#1574) * Fix + raise awareness of subtle bugs with active sampler exploration (Learning-and-Intelligent-Systems#1575) * fix subtle bugs * yapf * Ball and Cup Sticky Table Env (Learning-and-Intelligent-Systems#1576) * initial commit that seems to run without error... * fix bug in placing logic * delete outdated comment * fix replanning bug * more data = better results??? * starting tests * try oracle feature selection? * fix buggy test * increase training time? * yapf + fix tom comment * fix reachability issue in placing * minor * more unit tests * fix and more tests * this should be interesting * see if this yields a difference * let's see what happens now * woops * try removing placing cup with the ball on the table * hail mary * minor changes + logging * run task repeat first * sticky table with moving radius * yay! try other approaches... * polar coordinates ftw! * try a simpler thing * let's see how this does. * try more probability of success * all baselines * try running grid row env * most things passing * try this * progress towards PR * should be ready! * revert unnecessary change * fix linting * tom comments --------- Co-authored-by: Tom Silver <[email protected]> * allow third party users to define their own oracle NSRTs (Learning-and-Intelligent-Systems#1578) * allow third party users to define their own oracle NSRTs * test fixes * mypy * Clustering via reverse engineering (Learning-and-Intelligent-Systems#1556) * Initial commit. * Fix a minor bug. * Small changes to satisfy mypi. * Fix linting. * Add tests. * fixes * fix minor grammatical issue * Change check for non-zero types. --------- Co-authored-by: Nishanth Kumar <[email protected]> Co-authored-by: Nishanth Kumar <[email protected]> * pin openai dependency (Learning-and-Intelligent-Systems#1580) * changes to produce prettier grid row graphs (Learning-and-Intelligent-Systems#1577) * wip * test * coverage * update spot perceiver --------- Co-authored-by: Tom Silver <[email protected]> Co-authored-by: Nishanth Kumar <[email protected]> Co-authored-by: Bartłomiej Cieślar <[email protected]> Co-authored-by: Tom Silver <[email protected]> Co-authored-by: Ashay Athalye <[email protected]> Co-authored-by: Nishanth Kumar <[email protected]> Co-authored-by: Nishanth J. Kumar <[email protected]>
nkumar-bdai
added a commit
to bdaiinstitute/predicators
that referenced
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Nov 27, 2023
* freeze pytorch version to fix mypy crash (Learning-and-Intelligent-Systems#1563) * Implement infinite-horizon for exploration (Learning-and-Intelligent-Systems#1565) * simple initial implementation * fix checks * okay - really fix checks now * MyPy Bump and changes (Learning-and-Intelligent-Systems#1568) * minor changes to fix bugs (Learning-and-Intelligent-Systems#1569) * fix get_objects in hierarchical typing case (Learning-and-Intelligent-Systems#1572) Co-authored-by: Tom Silver <[email protected]> * fix hierarchical typing edge case (Learning-and-Intelligent-Systems#1574) * Fix + raise awareness of subtle bugs with active sampler exploration (Learning-and-Intelligent-Systems#1575) * fix subtle bugs * yapf * Ball and Cup Sticky Table Env (Learning-and-Intelligent-Systems#1576) * initial commit that seems to run without error... * fix bug in placing logic * delete outdated comment * fix replanning bug * more data = better results??? * starting tests * try oracle feature selection? * fix buggy test * increase training time? * yapf + fix tom comment * fix reachability issue in placing * minor * more unit tests * fix and more tests * this should be interesting * see if this yields a difference * let's see what happens now * woops * try removing placing cup with the ball on the table * hail mary * minor changes + logging * run task repeat first * sticky table with moving radius * yay! try other approaches... * polar coordinates ftw! * try a simpler thing * let's see how this does. * try more probability of success * all baselines * try running grid row env * most things passing * try this * progress towards PR * should be ready! * revert unnecessary change * fix linting * tom comments --------- Co-authored-by: Tom Silver <[email protected]> * allow third party users to define their own oracle NSRTs (Learning-and-Intelligent-Systems#1578) * allow third party users to define their own oracle NSRTs * test fixes * mypy * Clustering via reverse engineering (Learning-and-Intelligent-Systems#1556) * Initial commit. * Fix a minor bug. * Small changes to satisfy mypi. * Fix linting. * Add tests. * fixes * fix minor grammatical issue * Change check for non-zero types. --------- Co-authored-by: Nishanth Kumar <[email protected]> Co-authored-by: Nishanth Kumar <[email protected]> * pin openai dependency (Learning-and-Intelligent-Systems#1580) * changes to produce prettier grid row graphs (Learning-and-Intelligent-Systems#1577) * add functionality for rendering videos within cogman, rather than within the environment (Learning-and-Intelligent-Systems#1581) * init commit with prompt hacking * some progress, but not fully there yet (classifiers, etc. are jumpy...) * add info to FD crashes (Learning-and-Intelligent-Systems#1582) * disable flakey tests (Learning-and-Intelligent-Systems#1586) * Remove dead email and add NJK email in README (Learning-and-Intelligent-Systems#1583) with Rohan's blessing * handle planning failures within task planning in active sampler explorer (Learning-and-Intelligent-Systems#1584) * add separate flag for approach wrapper (Learning-and-Intelligent-Systems#1585) * good to go! subgoal accomplished! * update metadata accordingly * i think gtg? * fix spot_env * good for this PR * should be good to go * more merge * wip * minor --------- Co-authored-by: Tom Silver <[email protected]> Co-authored-by: Nishanth Kumar <[email protected]> Co-authored-by: Bartłomiej Cieślar <[email protected]> Co-authored-by: Tom Silver <[email protected]> Co-authored-by: Ashay Athalye <[email protected]> Co-authored-by: Nishanth Kumar <[email protected]> Co-authored-by: NishanthJKumar <[email protected]> Co-authored-by: Nishanth J. Kumar <[email protected]>
nkumar-bdai
pushed a commit
to bdaiinstitute/predicators
that referenced
this pull request
Dec 5, 2023
* freeze pytorch version to fix mypy crash (Learning-and-Intelligent-Systems#1563) * Implement infinite-horizon for exploration (Learning-and-Intelligent-Systems#1565) * simple initial implementation * fix checks * okay - really fix checks now * MyPy Bump and changes (Learning-and-Intelligent-Systems#1568) * minor changes to fix bugs (Learning-and-Intelligent-Systems#1569) * fix get_objects in hierarchical typing case (Learning-and-Intelligent-Systems#1572) Co-authored-by: Tom Silver <[email protected]> * fix hierarchical typing edge case (Learning-and-Intelligent-Systems#1574) * Fix + raise awareness of subtle bugs with active sampler exploration (Learning-and-Intelligent-Systems#1575) * fix subtle bugs * yapf * Ball and Cup Sticky Table Env (Learning-and-Intelligent-Systems#1576) * initial commit that seems to run without error... * fix bug in placing logic * delete outdated comment * fix replanning bug * more data = better results??? * starting tests * try oracle feature selection? * fix buggy test * increase training time? * yapf + fix tom comment * fix reachability issue in placing * minor * more unit tests * fix and more tests * this should be interesting * see if this yields a difference * let's see what happens now * woops * try removing placing cup with the ball on the table * hail mary * minor changes + logging * run task repeat first * sticky table with moving radius * yay! try other approaches... * polar coordinates ftw! * try a simpler thing * let's see how this does. * try more probability of success * all baselines * try running grid row env * most things passing * try this * progress towards PR * should be ready! * revert unnecessary change * fix linting * tom comments --------- Co-authored-by: Tom Silver <[email protected]> * allow third party users to define their own oracle NSRTs (Learning-and-Intelligent-Systems#1578) * allow third party users to define their own oracle NSRTs * test fixes * mypy * Clustering via reverse engineering (Learning-and-Intelligent-Systems#1556) * Initial commit. * Fix a minor bug. * Small changes to satisfy mypi. * Fix linting. * Add tests. * fixes * fix minor grammatical issue * Change check for non-zero types. --------- Co-authored-by: Nishanth Kumar <[email protected]> Co-authored-by: Nishanth Kumar <[email protected]> * pin openai dependency (Learning-and-Intelligent-Systems#1580) * changes to produce prettier grid row graphs (Learning-and-Intelligent-Systems#1577) * add functionality for rendering videos within cogman, rather than within the environment (Learning-and-Intelligent-Systems#1581) * add info to FD crashes (Learning-and-Intelligent-Systems#1582) * disable flakey tests (Learning-and-Intelligent-Systems#1586) * Remove dead email and add NJK email in README (Learning-and-Intelligent-Systems#1583) with Rohan's blessing * handle planning failures within task planning in active sampler explorer (Learning-and-Intelligent-Systems#1584) * add separate flag for approach wrapper (Learning-and-Intelligent-Systems#1585) * fix expected atoms monitoring (Learning-and-Intelligent-Systems#1587) * Split fail focus into UCB and non-UCB baselines (Learning-and-Intelligent-Systems#1579) * try non-ucb exploration baseline * update plotting script * ready! * yapf * Sample a random point inside a `_Geom2D` (Learning-and-Intelligent-Systems#1591) * should be gtg! * should be gtg * pursue task goal during exploration only every n cycles (Learning-and-Intelligent-Systems#1589) * fix loading during online learning (Learning-and-Intelligent-Systems#1592) * a few fixes to saving and loading in active sampler learning (Learning-and-Intelligent-Systems#1593) * use a highly optimistic initial competence until the second cycle (Learning-and-Intelligent-Systems#1595) * try a simpler fix * try again * merge in upstream --------- Co-authored-by: Tom Silver <[email protected]> Co-authored-by: Nishanth Kumar <[email protected]> Co-authored-by: Bartłomiej Cieślar <[email protected]> Co-authored-by: Tom Silver <[email protected]> Co-authored-by: Ashay Athalye <[email protected]> Co-authored-by: Nishanth Kumar <[email protected]>
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Creates a new
ball_and_cup_sticky_tableto mimic a new real-world env!Note that Grid 1D graph is now worse than it used to be; likely because of the change to the
task-repeatbaseline that was made in a recent PR. We might have to adjust hyperparameters in theyamlfile to get a better graph.Graphs:
