predicatorv3 configs: thin launchers, exp splits, shared use_gt_helpers#50
Merged
Conversation
This was referenced Jul 7, 2026
….yaml flags MCMC was already disabled via --code_sim_learning_num_mcmc_steps 0 in every experiment config; make that the default (LM point fit only). Drop the five flags in the active agent_po_predicate_invention_al arm that now just restate settings defaults (option_model_use_gui, agent_bilevel_log_state, agent_sim_learn_oracle_sim_program, agent_sim_learn_oracle_sim_params, code_sim_learning_num_mcmc_steps). agents.yaml also carries the arm toggling from the sysid work in progress: agent_po_predicate_invention_al re-activated, the agent_base_sim_no_learning / agent_oracle_hybrid_sim arms commented out.
…deos Swap the active min-block arm back from the heavy-block variant to the friction-mismatch domino env, and enable failure/test videos in common launch args for run inspection.
Extract every approach ("arm") into approaches/all.yaml, parked with
SKIP: True, and turn the launchers into thin includes that only un-skip
the arm(s) they run plus per-experiment ENVS overrides:
- oracle.yaml now includes approaches/all.yaml and flips oracle SKIP: False
- agents.yaml -> exp.yaml (the "ours" arm launcher)
- predicator_v3.yaml removed (its approach defs now live in the menu)
Un-comment the pybullet_fan block in envs/all.yaml so the fan oracle runs on this branch, and set the friction domino env SKIP: True (reversing the sysID unpark) so only fan runs here.
Rename the process-planning-only process_planning_use_gt_helpers to a general CFG.use_gt_helpers read by both the process-planning and the agent-planning approaches, so an "agent-with-grid" ablation can hand the LLM agent the same oracle scaffolding (domino/fan grid loc/side types + grid predicates). Default False; the oracle still hard-overrides to True. - settings.py + 3 ExoPredicator configs: rename the flag. - ground_truth_models: extract merge_gt_helper_types / merge_gt_helper_predicates (name-collision precedence) as the single definition of the helper-vocab merge; process_planning_approach now calls them. - agent_planner_approach (base of every agent arm): when use_gt_helpers, merge helper types/predicates into the vocabulary before the agent session is built, augment the solved task with the grid + oracle goal, and re-derive the grid on every execution state for the policy's and the option model's abstraction (Wait-on-atom-change). Exploration-time augmentation is left as a follow-up. - fan/domino augment_task_with_helper_objects: preserve goal_nl (the agent needs the NL goal even though the symbolic goal becomes BallAtLoc).
Env selection now mirrors the approaches menu: every env in envs/all.yaml is parked with SKIP: True and each thin launcher un-skips exactly the env + arm it runs. exp_domino.yaml reproduces the old agents.yaml run (domino friction-sysID env x agent_po_predicate_invention_al) and exp_fan.yaml reproduces the fan branch's exp.yaml run (fan env x agent_oracle_hybrid_sim); both verified flag-for-flag identical to their predecessors via generate_run_configs. oracle.yaml keeps running the fan oracle and now says so explicitly.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Commits
code_sim_learning_num_mcmc_stepsto 0; prune redundant agents.yaml flagsapproaches/all.yaml,exp.yaml,oracle.yaml)use_gt_helpersflag for both planning families - single flag consumed by the agent-planner and process-planning approaches; injects GT grid helpers for domino/fan.exp_domino/exp_fanContains one hand-resolved
settings.pyconflict (this is wherenum_mcmc_stepsflips to 0).