The entire D2L pipeline runs in Python3 and relies on the following dependencies:

• The FS planner.
• Some MaxSat solver such as OpenWBO.
• The Tarski planning problem definition module.
• CMake

The provided Dockerfile recipe lists all necessary instructions to install D2L on an Ubuntu box. You can either use it through Docker, or simply follow the commands to install the pipeline locally on your machine.

Individual experiments are on the experiments folder, grouped by domains. See experiments/gripper.py for an example. A file such as gripper.py contains different experiment configurations for learning in the Gripper domain. We invoke the pipeline with run.py <domain>:<experiment-name> <pipeline-steps-to-be-executed>, where the last parameter is an optional list of experiment step IDs (e.g.: 1 2 3). If no step ID is specified, the entire experiment is run. Example invocations:

  # Learn to clear a block
  ./run.py blocks:clear

  # Learn to stack two blocks
  ./run.py blocks:on

The configuration of each experiment can be inspected by looking at the experiment file.

The following is a list of the concrete experiments used in the results table of our AAAI'21 paper, Guillem Francès, Blai Bonet, Hector Geffner, Learning General Policies from Small Examples Without Supervision.

  ./run.py blocks:clear   # Q_clear
  ./run.py blocks:on      # Q_on
  ./run.py gripper:small  # Q_grip
  ./run.py reward:small   # Q_rew
  ./run.py delivery:small # Q_deliv
  ./run.py visitall:small # Q_visit
  ./run.py spanner:small  # Q_span
  ./run.py miconic:small  # Q_micon
  ./run.py blocks:all_at_5     # Q_bw

In order to use the provided Docker image, you need a Docker installation on your machine.

Build the docker image with the following command from the repo root:

sudo docker build -t d2l -f containers/Dockerfile .

You can open a terminal on the image for inspection or debugging by running

sudo docker run --entrypoint bash -it  d2l

Or you can directly run a concrete experiment, e.g.:

sudo docker run --rm d2l blocks:clear