merge in upstream changes (#161)

* 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* delete outdated comment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]>

predicators/planning.py

@@ -1180,7 +1180,10 @@ def run_task_plan_once(
         max_horizon: float = np.inf,
         **kwargs: Any
 ) -> Tuple[List[_GroundNSRT], List[Set[GroundAtom]], Metrics]:
-    """Get a single abstract plan for a task."""
+    """Get a single abstract plan for a task.
+
+    The sequence of ground atom sets returned represent NECESSARY atoms.
+    """
 
     init_atoms = utils.abstract(task.init, preds)
     goal = task.goal
@@ -1255,7 +1258,10 @@ def run_task_plan_once(
         raise ValueError("Unrecognized sesame_task_planner: "
                          f"{CFG.sesame_task_planner}")
 
-    return plan, atoms_seq, metrics
+    necessary_atoms_seq = utils.compute_necessary_atoms_seq(
+        plan, atoms_seq, goal)
+
+    return plan, necessary_atoms_seq, metrics
 
 
 class PlanningFailure(utils.ExceptionWithInfo):