This repository implements the LOFT approach described in the IROS 2021 paper:
Learning Symbolic Operators for Task and Motion Planning
Tom Silver*, Rohan Chitnis*, Joshua Tenenbaum, Leslie Pack Kaelbling, Tomas Lozano-Perez
Link to paper: https://arxiv.org/abs/2103.00589
Instructions for running (tested on OS X and Ubuntu 18.04):
- Use Python 3.6 or higher.
- Download Python dependencies:
pip install -r requirements.txt.
- Download the NDR package to a location on your path: https://github.com/tomsilver/ndr
./run.sh should work, and should finish in less than a second.
You should see the printout
In total, solved 30 / 30 near the end.
The three different environments can be run by changing the
variable in run.sh. Data has been included already in the
folder, but if you would like to regenerate it, you can set
COLLECT_DATA=1 in run.sh. All three environments should yield 100%
test success rate on all seeds.