# Learning Neuro-Symbolic Skills for Bilevel Planning

Code for anonymous CoRL 2022 submission.

## Requirements

* Python 3.8+
* Code tested on Ubuntu 18.04 and MacOS Big Sur

## Installation

* Virtual environments recommended
* `pip install requirements.txt`
* `export PYTHONHASHSEED=0`
* `export PYTHONPATH="${PYTHONPATH}:</path/to/this/folder/>`

## Running

Example:

```
python src/main.py --env cover_multistep_options --num_train_tasks 250 \
    --seed 0 --approach nsrt_learning --option_learner direct_bc \
    --min_perc_data_for_nsrt 1 --segmenter contacts --timeout 300
```

Other environment names:
- `doors` (add flags: `--included_options MoveToDoor,MoveThroughDoor`)
- `stick_button`
- `coffee`
