Merge branch 'master' into HEAD

.github/CODEOWNERS

@@ -1,2 +1,2 @@
 # Default owners for all files.
-*       @nkumar-bdai @wmcclinton @tsilver-bdai
+*       @NishanthJKumar @wmcclinton @tsilver-bdai

.github/workflows/predicators.yml

@@ -7,7 +7,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [3.8]
+        python-version: ["3.10.14"]
     steps:
     - uses: actions/checkout@v2
     - name: Set up Python ${{ matrix.python-version }}
@@ -28,7 +28,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [3.8]
+        python-version: ["3.10.14"]
     steps:
     - uses: actions/checkout@v2
     - name: Set up Python ${{ matrix.python-version }}
@@ -40,16 +40,15 @@ jobs:
     - name: Install dependencies
       run: |
         pip install -e .
-        pip install -U git+https://github.com/python/mypy.git@9a10967fdaa2ac077383b9eccded42829479ef31
-      # Note: if mypy issue #5485 gets resolved, we can install from head again.
+        pip install mypy==1.8.0
     - name: Mypy
       run: |
         mypy . --config-file mypy.ini
   lint:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [3.8]
+        python-version: ["3.10.14"]
     steps:
     - uses: actions/checkout@v2
     - name: Set up Python ${{ matrix.python-version }}
@@ -71,7 +70,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [3.8]
+        python-version: ["3.10.14"]
     steps:
     - uses: actions/checkout@v2
     - name: Set up Python ${{ matrix.python-version }}
@@ -95,7 +94,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [3.8]
+        python-version: ["3.10.14"]
     steps:
     - uses: actions/checkout@v2
     - name: Set up Python ${{ matrix.python-version }}
@@ -116,7 +115,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [3.8]
+        python-version: ["3.10.14"]
     steps:
     - uses: actions/checkout@v2
     - name: Set up Python ${{ matrix.python-version }}

.gitignore

@@ -1,6 +1,7 @@
 __pycache__
 *.pyc
 .DS_Store
+.vscode
 *.egg-info
 *.pkl
 *~
@@ -19,7 +20,7 @@ logs
 saved_approaches
 saved_datasets
 scripts/results
-llm_cache
+pretrained_model_cache
 machines.txt
 *_vision_data
 tests/_fake_trajs

.predicators_pylintrc

@@ -3,7 +3,7 @@
 # A comma-separated list of package or module names from where C extensions may
 # be loaded. Extensions are loading into the active Python interpreter and may
 # run arbitrary code
-extension-pkg-whitelist=numpy,pybullet,torch,tensorflow,pyrealsense2,cv2
+extension-pkg-whitelist=numpy,pybullet,torch,tensorflow,pyrealsense2,cv2,scipy
 
 # Add files or directories to the blacklist. They should be base names, not
 # paths.

README.md

@@ -2,7 +2,17 @@
 
 ## Repository Description
 
-This codebase implements a framework for *bilevel planning with learned neuro-symbolic relational abstractions*, as described in [this paper](https://arxiv.org/abs/2203.09634). Several features are concurrently under active development. **Please contact <[email protected]> or <[email protected]> before attempting to use it for your own research.** In particular, this codebase aims to ultimately provide an integrated system for learning the ingredients of search-then-sample bilevel planning with learned abstractions. That includes: options, predicates, operators, and samplers. 
+This codebase implements a framework for *bilevel planning with learned neuro-symbolic relational abstractions*, as described in the following papers:
+
+1. [Learning Symbolic Operators for Task and Motion Planning](https://arxiv.org/abs/2103.00589). Silver*, Chitnis*, Tenenbaum, Kaelbling, Lozano-Perez. IROS 2021.
+2. [Learning Neuro-Symbolic Relational Transition Models for Bilevel Planning](https://arxiv.org/abs/2105.14074). Chitnis*, Silver*, Tenenbaum, Lozano-Perez, Kaelbling. IROS 2022.
+3. [Learning Neuro-Symbolic Skills for Bilevel Planning](http://arxiv.org/abs/2206.10680). Silver, Athalye, Tenenbaum, Lozano-Perez, Kaelbling. CoRL 2022.
+4. [Predicate Invention for Bilevel Planning](https://arxiv.org/abs/2203.09634). Silver*, Chitnis*, Kumar, McClinton, Lozano-Perez, Kaelbling, Tenenbaum. AAAI 2023.
+5. [Embodied Active Learning of Relational State Abstractions for Bilevel Planning](https://arxiv.org/abs/2303.04912). Li, Silver. CoLLAs 2023.
+6. [Learning Efficient Abstract Planning Models that Choose What to Predict](https://arxiv.org/abs/2208.07737). Kumar*, McClinton*, Chitnis, Silver, Lozano-Perez, Kaelbling. CoRL 2023.
+7. [Practice Makes Perfect: Planning to Learn Skill Parameter Policies](https://arxiv.org/abs/2402.15025). Kumar*, Silver*, McClinton, Zhao, Proulx, Lozano-Perez, Kaelbling, Barry. Under Review 2024.
+
+The codebase is still under active development. **Please contact <[email protected]> or <[email protected]> before attempting to use it for your own research.**
 
 ### Code Structure
 
@@ -18,7 +28,7 @@ Methods for predicate learning are implemented as Approaches (e.g., `predicators
 A simple implementation of search-then-sample bilevel planning is provided in `predicators/planning.py`. This implementation uses the "SeSamE" strategy: SEarch-and-SAMple planning, then Execution.
 
 ## Installation
-* This repository uses Python versions 3.8+.
+* This repository uses Python versions 3.10-3.11. We recommend 3.10.14.
 * Run `pip install -e .` to install dependencies.
 
 ## Instructions For Running Code

mypy.ini

@@ -2,7 +2,7 @@
 strict_equality = True
 disallow_untyped_calls = True
 warn_unreachable = True
-exclude = (predicators/envs/assets|predicators/third_party|venv)
+exclude = (predicators/envs/assets|venv)
 
 [mypy-predicators.*]
 disallow_untyped_defs = True
@@ -15,6 +15,7 @@ ignore_missing_imports = True
 
 [mypy-predicators.third_party.*]
 ignore_missing_imports = True
+ignore_errors = True
 
 [mypy-setuptools.*]
 ignore_missing_imports = True
@@ -118,3 +119,21 @@ ignore_missing_imports = True
 
 [mypy-gymnasium_robotics.*]
 ignore_missing_imports = True
+
+[mypy-moviepy.*]
+ignore_missing_imports = True
+
+[mypy-google.protobuf.wrappers_pb2.*]
+ignore_missing_imports = True
+
+[mypy-pbrspot.*]
+ignore_missing_imports = True
+
+[mypy-ImageHash.*]
+ignore_missing_imports = True
+
+[mypy-google.*]
+ignore_missing_imports = True
+
+[mypy-google.generativeai.*]
+ignore_missing_imports = True