├── .coveragerc ├── .github ├── CODEOWNERS └── workflows │ └── predicators.yml ├── .gitignore ├── .isort.cfg ├── .predicators_pylintrc ├── .style.yapf ├── LICENSE.md ├── README.md ├── mypy.ini ├── predicators ├── __init__.py ├── approaches │ ├── __init__.py │ ├── active_sampler_learning_approach.py │ ├── base_approach.py │ ├── bilevel_planning_approach.py │ ├── bridge_policy_approach.py │ ├── documentation │ │ └── grammar_search_invention_approach.md │ ├── gnn_action_policy_approach.py │ ├── gnn_approach.py │ ├── gnn_metacontroller_approach.py │ ├── gnn_option_policy_approach.py │ ├── grammar_search_invention_approach.py │ ├── interactive_learning_approach.py │ ├── llm_base_renaming_approach.py │ ├── llm_bilevel_planning_approach.py │ ├── llm_open_loop_approach.py │ ├── llm_option_renaming_approach.py │ ├── llm_predicate_renaming_approach.py │ ├── llm_syntax_renaming_approach.py │ ├── maple_q_approach.py │ ├── noisy_button_wrapper_approach.py │ ├── nsrt_learning_approach.py │ ├── nsrt_metacontroller_approach.py │ ├── nsrt_rl_approach.py │ ├── online_nsrt_learning_approach.py │ ├── online_pg3_approach.py │ ├── oracle_approach.py │ ├── pg3_analogy_approach.py │ ├── pg3_approach.py │ ├── pg4_approach.py │ ├── random_actions_approach.py │ ├── random_options_approach.py │ ├── refinement_estimation_approach.py │ ├── sme_pg3_analogy_approach.py │ ├── vlm_open_loop_approach.py │ └── vlm_planning_prompts │ │ ├── few_shot.txt │ │ └── no_few_shot.txt ├── args.py ├── bridge_policies │ ├── __init__.py │ ├── base_bridge_policy.py │ ├── ldl_bridge_policy.py │ ├── learned_ldl_bridge_policy.py │ └── oracle_bridge_policy.py ├── cogman.py ├── competence_models.py ├── datasets │ ├── __init__.py │ ├── demo_only.py │ ├── demo_replay.py │ ├── generate_atom_trajs_with_vlm.py │ ├── ground_atom_data.py │ └── vlm_input_data_prompts │ │ ├── atom_labelling │ │ ├── double_check_prompt_prev_labels.txt │ │ ├── img_option_diffs.txt │ │ ├── img_option_diffs_label_history.txt │ │ ├── img_option_diffs_label_history_burger.txt │ │ ├── img_option_diffs_label_history_crops.txt │ │ ├── per_scene_cot.txt │ │ └── per_scene_naive.txt │ │ ├── atom_proposal │ │ ├── naive_each_step.txt │ │ ├── naive_whole_traj.txt │ │ ├── options_labels_whole_traj_diverse.txt │ │ └── options_labels_whole_traj_specific.txt │ │ └── vision_api │ │ ├── api_oo_state.txt │ │ ├── api_sym_predicate.txt │ │ └── prompt.outline ├── envs │ ├── __init__.py │ ├── assets │ │ ├── imgs │ │ │ ├── bottom_bun.png │ │ │ ├── cheese.png │ │ │ ├── cooked_patty.png │ │ │ ├── cut_lettuce.png │ │ │ ├── cutting_board.png │ │ │ ├── floorwood.png │ │ │ ├── grill.png │ │ │ ├── raw_patty.png │ │ │ ├── realistic_cooked_patty.png │ │ │ ├── realistic_cooked_patty_full.png │ │ │ ├── realistic_raw_patty.png │ │ │ ├── realistic_raw_patty_full.png │ │ │ ├── robot.png │ │ │ ├── robot_down.png │ │ │ ├── robot_left.png │ │ │ ├── robot_right.png │ │ │ ├── robot_up.png │ │ │ ├── sliced_tomato.png │ │ │ ├── top_bun.png │ │ │ ├── uncut_lettuce.png │ │ │ └── whole_tomato.png │ │ ├── pddl │ │ │ ├── blocks │ │ │ │ ├── domain.pddl │ │ │ │ ├── task1.pddl │ │ │ │ ├── task10.pddl │ │ │ │ ├── task11.pddl │ │ │ │ ├── task12.pddl │ │ │ │ ├── task13.pddl │ │ │ │ ├── task14.pddl │ │ │ │ ├── task15.pddl │ │ │ │ ├── task16.pddl │ │ │ │ ├── task17.pddl │ │ │ │ ├── task18.pddl │ │ │ │ ├── task19.pddl │ │ │ │ ├── task2.pddl │ │ │ │ ├── task20.pddl │ │ │ │ ├── task21.pddl │ │ │ │ ├── task22.pddl │ │ │ │ ├── task23.pddl │ │ │ │ ├── task24.pddl │ │ │ │ ├── task25.pddl │ │ │ │ ├── task26.pddl │ │ │ │ ├── task27.pddl │ │ │ │ ├── task28.pddl │ │ │ │ ├── task29.pddl │ │ │ │ ├── task3.pddl │ │ │ │ ├── task30.pddl │ │ │ │ ├── task31.pddl │ │ │ │ ├── task32.pddl │ │ │ │ ├── task33.pddl │ │ │ │ ├── task34.pddl │ │ │ │ ├── task35.pddl │ │ │ │ ├── task4.pddl │ │ │ │ ├── task5.pddl │ │ │ │ ├── task6.pddl │ │ │ │ ├── task7.pddl │ │ │ │ ├── task8.pddl │ │ │ │ └── task9.pddl │ │ │ ├── delivery │ │ │ │ └── domain.pddl │ │ │ ├── ferry │ │ │ │ └── domain.pddl │ │ │ ├── forest │ │ │ │ └── domain.pddl │ │ │ ├── gripper │ │ │ │ ├── domain.pddl │ │ │ │ └── prefixed_domain.pddl │ │ │ ├── miconic │ │ │ │ └── domain.pddl │ │ │ └── spannerlearning │ │ │ │ └── domain.pddl │ │ └── urdf │ │ │ ├── fetch_description │ │ │ ├── meshes │ │ │ │ ├── base_link.dae │ │ │ │ ├── base_link_collision.STL │ │ │ │ ├── base_link_uv.png │ │ │ │ ├── bellows_link.STL │ │ │ │ ├── bellows_link_collision.STL │ │ │ │ ├── elbow_flex_link.dae │ │ │ │ ├── elbow_flex_link_collision.STL │ │ │ │ ├── elbow_flex_uv.png │ │ │ │ ├── estop_link.STL │ │ │ │ ├── forearm_roll_link.dae │ │ │ │ ├── forearm_roll_link_collision.STL │ │ │ │ ├── forearm_roll_uv.png │ │ │ │ ├── gripper_link.STL │ │ │ │ ├── gripper_link.dae │ │ │ │ ├── gripper_uv.png │ │ │ │ ├── head_pan_link.dae │ │ │ │ ├── head_pan_link_collision.STL │ │ │ │ ├── head_pan_uv.png │ │ │ │ ├── head_tilt_link.dae │ │ │ │ ├── head_tilt_link_collision.STL │ │ │ │ ├── head_tilt_uv.png │ │ │ │ ├── l_gripper_finger_link.STL │ │ │ │ ├── l_wheel_link.STL │ │ │ │ ├── l_wheel_link_collision.STL │ │ │ │ ├── laser_link.STL │ │ │ │ ├── r_gripper_finger_link.STL │ │ │ │ ├── r_wheel_link.STL │ │ │ │ ├── r_wheel_link_collision.STL │ │ │ │ ├── shoulder_lift_link.dae │ │ │ │ ├── shoulder_lift_link_collision.STL │ │ │ │ ├── shoulder_lift_uv.png │ │ │ │ ├── shoulder_pan_link.dae │ │ │ │ ├── shoulder_pan_link_collision.STL │ │ │ │ ├── shoulder_pan_uv.png │ │ │ │ ├── torso_fixed_link.STL │ │ │ │ ├── torso_fixed_link.dae │ │ │ │ ├── torso_fixed_uv.png │ │ │ │ ├── torso_lift_link.dae │ │ │ │ ├── torso_lift_link_collision.STL │ │ │ │ ├── torso_lift_uv.png │ │ │ │ ├── upperarm_roll_link.dae │ │ │ │ ├── upperarm_roll_link_collision.STL │ │ │ │ ├── upperarm_roll_uv.png │ │ │ │ ├── wrist_flex_link.dae │ │ │ │ ├── wrist_flex_link_collision.STL │ │ │ │ ├── wrist_flex_uv.png │ │ │ │ ├── wrist_roll_link.dae │ │ │ │ ├── wrist_roll_link_collision.STL │ │ │ │ └── wrist_roll_uv.png │ │ │ └── robots │ │ │ │ └── fetch.urdf │ │ │ ├── franka_description │ │ │ ├── CMakeLists.txt │ │ │ ├── mainpage.dox │ │ │ ├── meshes │ │ │ │ ├── collision │ │ │ │ │ ├── finger.stl │ │ │ │ │ ├── hand.stl │ │ │ │ │ ├── link0.stl │ │ │ │ │ ├── link1.stl │ │ │ │ │ ├── link2.stl │ │ │ │ │ ├── link3.stl │ │ │ │ │ ├── link4.stl │ │ │ │ │ ├── link5.stl │ │ │ │ │ ├── link6.stl │ │ │ │ │ └── link7.stl │ │ │ │ └── visual │ │ │ │ │ ├── finger.dae │ │ │ │ │ ├── hand.dae │ │ │ │ │ ├── link0.dae │ │ │ │ │ ├── link1.dae │ │ │ │ │ ├── link2.dae │ │ │ │ │ ├── link3.dae │ │ │ │ │ ├── link4.dae │ │ │ │ │ ├── link5.dae │ │ │ │ │ ├── link6.dae │ │ │ │ │ └── link7.dae │ │ │ ├── package.xml │ │ │ ├── robots │ │ │ │ ├── hand.dae │ │ │ │ ├── hand.urdf │ │ │ │ ├── hand.urdf.xacro │ │ │ │ ├── hand.xacro │ │ │ │ ├── panda_arm.backup.dae │ │ │ │ ├── panda_arm.dae │ │ │ │ ├── panda_arm.urdf │ │ │ │ ├── panda_arm.urdf.xacro │ │ │ │ ├── panda_arm.xacro │ │ │ │ ├── panda_arm_hand.backup.dae │ │ │ │ ├── panda_arm_hand.dae │ │ │ │ ├── panda_arm_hand.urdf │ │ │ │ └── panda_arm_hand.urdf.xacro │ │ │ └── rosdoc.yaml │ │ │ ├── plane.obj │ │ │ ├── plane.urdf │ │ │ ├── table.obj │ │ │ ├── table.png │ │ │ └── table.urdf │ ├── ball_and_cup_sticky_table.py │ ├── base_env.py │ ├── blocks.py │ ├── burger.py │ ├── cluttered_table.py │ ├── coffee.py │ ├── cover.py │ ├── doors.py │ ├── exit_garage.py │ ├── grid_row.py │ ├── kitchen.py │ ├── narrow_passage.py │ ├── noisy_button.py │ ├── painting.py │ ├── pddl_env.py │ ├── pddl_procedural_generation.py │ ├── playroom.py │ ├── pybullet_blocks.py │ ├── pybullet_cover.py │ ├── pybullet_env.py │ ├── repeated_nextto.py │ ├── repeated_nextto_painting.py │ ├── sandwich.py │ ├── satellites.py │ ├── screws.py │ ├── sokoban.py │ ├── stick_button.py │ ├── sticky_table.py │ ├── tools.py │ ├── touch_point.py │ └── vlm_envs.py ├── execution_monitoring │ ├── __init__.py │ ├── base_execution_monitor.py │ ├── expected_atoms_monitor.py │ ├── mpc_execution_monitor.py │ └── trivial_execution_monitor.py ├── explorers │ ├── __init__.py │ ├── active_sampler_explorer.py │ ├── base_explorer.py │ ├── bilevel_planning_explorer.py │ ├── exploit_bilevel_planning_explorer.py │ ├── glib_explorer.py │ ├── greedy_lookahead_explorer.py │ ├── maple_q_explorer.py │ ├── no_explore_explorer.py │ ├── random_actions_explorer.py │ ├── random_nsrts_explorer.py │ └── random_options_explorer.py ├── gnn │ ├── __init__.py │ ├── gnn.py │ └── gnn_utils.py ├── ground_truth_models │ ├── __init__.py │ ├── ball_and_cup_sticky_table │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── blocks │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── burger │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── cluttered_table │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── coffee │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── cover │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── doors │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── exit_garage │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── grid_row │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── ice_tea_making │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── kitchen │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── narrow_passage │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── noisy_button │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── painting │ │ ├── __init__.py │ │ ├── ldl_bridge_policy.py │ │ ├── nsrts.py │ │ ├── options.py │ │ └── painting_bridge_policy.ldl │ ├── pddl_env │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── playroom │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── repeated_nextto │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── sandwich │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── satellites │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── screws │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── sokoban │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── stick_button │ │ ├── __init__.py │ │ ├── ldl_bridge_policy.py │ │ ├── nsrts.py │ │ ├── options.py │ │ └── stick_button_bridge_policy.ldl │ ├── sticky_table │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── tools │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ ├── touch_open │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py │ └── touch_point │ │ ├── __init__.py │ │ ├── nsrts.py │ │ └── options.py ├── main.py ├── ml_models.py ├── nsrt_learning │ ├── __init__.py │ ├── nsrt_learning_main.py │ ├── option_learning.py │ ├── sampler_learning.py │ ├── segmentation.py │ └── strips_learning │ │ ├── __init__.py │ │ ├── base_strips_learner.py │ │ ├── clustering_learner.py │ │ ├── gen_to_spec_learner.py │ │ ├── llm_op_learning_prompts │ │ └── naive_no_examples.txt │ │ ├── llm_strips_learner.py │ │ ├── oracle_clustering_learner.py │ │ ├── oracle_learner.py │ │ └── pnad_search_learner.py ├── option_model.py ├── perception │ ├── __init__.py │ ├── base_perceiver.py │ ├── kitchen_perceiver.py │ ├── sokoban_perceiver.py │ └── trivial_perceiver.py ├── planning.py ├── predicate_search_score_functions.py ├── pretrained_model_interface.py ├── pybullet_helpers │ ├── __init__.py │ ├── camera.py │ ├── controllers.py │ ├── geometry.py │ ├── ikfast │ │ ├── __init__.py │ │ ├── load.py │ │ └── utils.py │ ├── inverse_kinematics.py │ ├── joint.py │ ├── link.py │ ├── motion_planning.py │ └── robots │ │ ├── __init__.py │ │ ├── fetch.py │ │ ├── panda.py │ │ └── single_arm.py ├── refinement_estimators │ ├── __init__.py │ ├── base_refinement_estimator.py │ ├── cnn_refinement_estimator.py │ ├── gnn_refinement_estimator.py │ ├── oracle_refinement_estimator.py │ ├── per_skeleton_estimator.py │ └── tabular_refinement_estimator.py ├── settings.py ├── structs.py ├── teacher.py ├── third_party │ ├── fast_downward_translator │ │ ├── README.md │ │ ├── axiom_rules.py │ │ ├── build_model.py │ │ ├── constraints.py │ │ ├── fact_groups.py │ │ ├── graph.py │ │ ├── greedy_join.py │ │ ├── instantiate.py │ │ ├── invariant_finder.py │ │ ├── invariants.py │ │ ├── normalize.py │ │ ├── pddl │ │ │ ├── __init__.py │ │ │ ├── actions.py │ │ │ ├── axioms.py │ │ │ ├── conditions.py │ │ │ ├── effects.py │ │ │ ├── f_expression.py │ │ │ ├── functions.py │ │ │ ├── pddl_types.py │ │ │ ├── predicates.py │ │ │ └── tasks.py │ │ ├── pddl_parser │ │ │ ├── __init__.py │ │ │ ├── lisp_parser.py │ │ │ ├── parsing_functions.py │ │ │ └── pddl_file.py │ │ ├── pddl_to_prolog.py │ │ ├── sas_tasks.py │ │ ├── sccs.py │ │ ├── simplify.py │ │ ├── split_rules.py │ │ ├── timers.py │ │ ├── tools.py │ │ ├── translate.py │ │ └── variable_order.py │ └── ikfast │ │ ├── __init__.py │ │ ├── compile.py │ │ ├── ikfast.h │ │ └── panda_arm │ │ ├── __init__.py │ │ ├── compile.py │ │ ├── ikfast.h │ │ ├── ikfast_panda_arm.cpp │ │ └── setup.py ├── train_refinement_estimator.py └── utils.py ├── run_autoformat.sh ├── scripts ├── __init__.py ├── active_sampler_learning_analysis.py ├── analyze_results_directory.py ├── cluster_utils.py ├── configs │ ├── active_sampler_learning.yaml │ ├── backchaining_predicate_invention.yaml │ ├── cover_active_sampler_learning.yaml │ ├── example_basic.yaml │ ├── example_multiple_combinations.yaml │ ├── full_pipeline.yaml │ ├── interactive_learning.yaml │ ├── kitchen_active_learning.yaml │ ├── kitchen_oracle.yaml │ ├── llm_pddl.yaml │ ├── llm_pddl_ablations.yaml │ ├── nightly.yaml │ ├── online_rl_cover.yaml │ ├── pg3_offline.yaml │ ├── pg3_online.yaml │ ├── pg4.yaml │ ├── pred_invention_slowness.yaml │ ├── pred_invention_vlm.yaml │ ├── refinement_cost_learning.yaml │ └── refinement_cost_learning_test.yaml ├── eval_trajectory_to_lisdf.py ├── evaluate_interactive_approach_classifiers.py ├── evaluate_interactive_approach_entropy.py ├── find_unused_functions.py ├── grammar_search_analysis.py ├── launch_slack_bot.py ├── lisdf_plan_to_reset.py ├── lisdf_pybullet_visualizer.py ├── local │ ├── launch.py │ └── print_commands.py ├── openstack │ ├── README.md │ ├── __init__.py │ ├── download.py │ ├── kill_all.py │ └── launch.py ├── plotting │ ├── analyze_latent_variable_competence_models.py │ ├── analyze_skill_competence_models.py │ ├── create_active_sampler_learning_plots.py │ ├── create_bar_plots.py │ ├── create_classification_plots.py │ ├── create_ignore_effects_lineplots.py │ ├── create_interactive_predicate_learning_plots.py │ ├── create_latex_tables.py │ ├── create_num_demos_plots.py │ ├── create_option_learning_plots.py │ ├── create_per_task_histograms.py │ └── create_per_task_nodes_stripplot.py ├── realsense_helpers.py ├── run_blocks_perception.py ├── run_blocks_real.sh ├── run_checks.sh ├── skeleton_score_analysis.py └── supercloud │ ├── __init__.py │ ├── download.py │ ├── kill_all.py │ ├── launch.py │ ├── run_ignore_effects_experiments.sh │ ├── run_loft_experiments.sh │ ├── run_option_learning_experiments.sh │ ├── run_predicators_evalonly_experiments.sh │ ├── run_predicators_main_experiments.sh │ ├── run_predicators_num_demos_experiments.sh │ └── submit_supercloud_job.py ├── setup.py ├── supercloud.md └── tests ├── __init__.py ├── approaches ├── __init__.py ├── test_active_sampler_learning_approach.py ├── test_base_approach.py ├── test_bridge_policy_approach.py ├── test_gnn_action_policy_approach.py ├── test_gnn_metacontroller_approach.py ├── test_gnn_option_policy_approach.py ├── test_grammar_search_invention_approach.py ├── test_interactive_approach.py ├── test_llm_base_renaming_approach.py ├── test_llm_bilevel_planning_approach.py ├── test_llm_open_loop_approach.py ├── test_llm_option_renaming_approach.py ├── test_llm_predicate_renaming_approach.py ├── test_llm_syntax_renaming_approach.py ├── test_maple_q_approach.py ├── test_noisy_button_wrapper_approach.py ├── test_nsrt_learning_approach.py ├── test_nsrt_rl_approach.py ├── test_online_nsrt_learning_approach.py ├── test_online_pg3_approach.py ├── test_oracle_approach.py ├── test_pg3_analogy_approach.py ├── test_pg3_approach.py ├── test_pg4_approach.py ├── test_random_actions_approach.py ├── test_random_options_approach.py └── test_refinement_estimation_approach.py ├── bridge_policies ├── test_base_bridge_policy.py └── test_oracle_bridge_policy.py ├── conftest.py ├── datasets ├── mock_vlm_datasets │ ├── cover__demo+labelled_atoms__manual__1.txt │ ├── cover__vlm_demos__456__1 │ │ └── traj_0 │ │ │ ├── 0 │ │ │ ├── img.jpg │ │ │ └── state.p │ │ │ ├── 1 │ │ │ ├── img.jpg │ │ │ └── state.p │ │ │ ├── 2 │ │ │ ├── img.jpg │ │ │ └── state.p │ │ │ └── options_traj.txt │ ├── ice_tea_making__demo+labelled_atoms__manual__1.txt │ └── ice_tea_making__vlm_demos__456__1 │ │ └── traj_0 │ │ ├── 0 │ │ └── IMG_3779.jpg │ │ ├── 1 │ │ └── IMG_3780.jpg │ │ ├── 2 │ │ └── IMG_3781.jpg │ │ ├── 3 │ │ └── IMG_3782.jpg │ │ ├── 4 │ │ └── IMG_3783.jpg │ │ └── options_traj.txt ├── test_datasets.py └── test_vlm_predicate_img.jpg ├── envs ├── test_ball_and_cup_sticky_table_env.py ├── test_base_env.py ├── test_blocks.py ├── test_burger.py ├── test_cluttered_table.py ├── test_coffee.py ├── test_cover.py ├── test_doors_env.py ├── test_exit_garage.py ├── test_grid_row.py ├── test_narrow_passage.py ├── test_painting.py ├── test_pddl_env.py ├── test_pddl_procedural_generation.py ├── test_playroom.py ├── test_pybullet_blocks.py ├── test_pybullet_cover.py ├── test_repeated_nextto.py ├── test_repeated_nextto_painting.py ├── test_sandwich.py ├── test_satellites.py ├── test_screws.py ├── test_sokoban.py ├── test_stick_button.py ├── test_sticky_table.py ├── test_tools.py ├── test_touch_point.py └── test_vlm_envs.py ├── execution_monitoring └── test_execution_monitoring.py ├── explorers ├── test_active_sampler_explorer.py ├── test_base_explorer.py ├── test_exploit_bilevel_planning_explorer.py ├── test_glib_explorer.py ├── test_greedy_lookahead_explorer.py ├── test_no_explore_explorer.py ├── test_online_learning.py ├── test_random_actions_explorer.py ├── test_random_nsrts_explorer.py └── test_random_options_explorer.py ├── nsrt_learning ├── strips_learning │ ├── test_backchaining_based_learners.py │ ├── test_base_strips_learner.py │ ├── test_clustering_learner.py │ ├── test_llm_strips_learner.py │ └── test_oracle_learner.py ├── test_nsrt_learning_main.py ├── test_option_learning.py ├── test_sampler_learning.py └── test_segmentation.py ├── perception └── test_perception.py ├── pybullet_helpers ├── conftest.py ├── ikfast │ ├── test_load.py │ └── test_utils.py ├── robots │ └── test_panda.py ├── test_geometry.py ├── test_joint.py ├── test_link.py ├── test_motion_planning.py └── test_pybullet_robots.py ├── refinement_estimators ├── test_base_refinement_estimator.py ├── test_cnn_refinement_estimator.py ├── test_gnn_refinement_estimator.py ├── test_oracle_refinement_estimator.py └── test_tabular_refinement_estimator.py ├── test_args.py ├── test_cogman.py ├── test_competence_models.py ├── test_ground_truth_options.py ├── test_main.py ├── 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