This repository contains the code used in the experiments for the following paper:

A. Cropper and S.H. Muggleton. Learning efficient logical robot strategies involving composable objects. In Proceedings of the 24th International Joint Conference Artificial Intelligence (IJCAI 2015), pages 3423-3429. IJCAI, 2015.

We used SWI-Prolog, Version 6.6.x for all experiments.

To reproduce the postman results in Fig. 4 and the sorter results in Fig. 6, go to the respective subdirectory and run the run-metagold.bash and run-metagolo.bash bash files. The associated learned programs and test results are stored in the subdirectories results-metagold and results-metagolo.

One can calculate output for the plots using the results.py file.

Note that each experiment take a very long time to run, in excess of 24 hours. This is a limitation of the approach, which we intend to rectify in future work.

Contact a.cropper13@imperial.ac.uk with any queries.