settings.py

"""Contains global, immutable settings.

Anything that varies between runs should be a command-line arg (args.py).
"""


def create_config(args):
    """Create config class
    """
    class Config:
        """Config class
        """
        env = args.env
        start_seed = args.start_seed
        num_seeds = args.num_seeds
        collect_data = args.collect_data

        data_dir = "data/"

        cover_num_blocks = 2
        cover_num_targets = 2
        cover_block_widths = [0.1, 0.07]
        cover_target_widths = [0.05, 0.03]
        cover_num_test_problems = 30

        blocks_demo_num_objs = [3, 4, 5]
        blocks_test_num_objs = [6]
        blocks_num_test_problems = 10

        painting_demo_num_objs = [3, 4, 5]
        painting_test_num_objs = [6, 7, 8, 9, 10]
        painting_num_test_problems = 30

        backtracking_num_samples_per_step = 10
        effect_prob_threshold = 0.001
        num_demos = 20
        num_negatives = {
            "cover": 100,
            "painting": 2500,
            "blocks": 100,
        }[args.env]
        max_test_episode_length = {
            "cover": 5,
            "painting": 50,
            "blocks": 50,
        }[args.env]
        approach_timeout = {
            "cover": 1,
            "painting": 10,
            "blocks": 10,
        }[args.env]

        builp_max_unique_lifted_effects = 10
        builp_learn_probabilities = True
        builp_learn_empty_effects = False
        builp_max_preconditions_per_effect = 100000
        builp_max_search_iters = 100
        builp_max_rule_size = float("inf")
        builp_true_pos_weight = 10
        builp_false_pos_weight = 1
        builp_var_count_weight = 1e-1
        builp_rule_size_weight = 1e-2
        builp_referenced_objects_only = True

    return Config