Rename human_interaction approach and fix Wait crash

predicators/approaches/human_low_level_control_approach.py

@@ -32,7 +32,7 @@
 class HumanLowLevelControlApproach(BaseApproach):
     """A human-in-the-loop approach for low-level robot control via keyboard.
 
-    Unlike the HumanInteractionApproach which selects high-level options via
+    Unlike the HumanOptionControlApproach which selects high-level options via
     terminal, this approach generates raw joint position Actions based on
     keyboard input from the terminal.
 

predicators/approaches/human_interaction_approach.py → predicators/approaches/human_option_control_approach.py

@@ -1,5 +1,25 @@
-"""A human-in-the-loop approach where the user manually selects processes via
-terminal prompts at each decision point."""
+"""A human-in-the-loop approach where the user manually selects options via
+terminal prompts at each decision point.
+
+This is the high-level (option/skill) counterpart to
+``human_low_level_control_approach``: that one prompts for raw actions,
+this one prompts for parameterized skills (e.g. ``SwitchOn``, ``Wait``)
+and their arguments. ``Wait`` runs until the abstract atoms change.
+
+Example (PyBullet Fan)::
+
+    python predicators/main.py --env pybullet_fan \\
+        --approach human_option_control --seed 0 \\
+        --pybullet_max_vel_norm 0.1 \\
+        --pybullet_sim_steps_per_action 5 --use_gui \\
+        --num_train_tasks 1 --num_test_tasks 1
+
+Swap ``--env`` for any other env that ships a Wait/process model
+(``pybullet_boil``, ``pybullet_coffee``, ``pybullet_grow``).  Set
+``--human_option_control_approach_use_scripted_option True`` together
+with ``--scripted_option_dir`` / ``--script_option_file_name`` to replay
+a pre-written option plan instead of prompting interactively.
+"""
 
 from typing import Callable, List, Optional, Sequence, Set, cast
 
@@ -17,7 +37,7 @@
     State, Task, Type, _GroundEndogenousProcess, _Option
 
 
-class HumanInteractionApproach(BilevelProcessPlanningApproach):
+class HumanOptionControlApproach(BilevelProcessPlanningApproach):
     """A human-in-the-loop approach for process-based planning.
 
     At each decision point, displays applicable processes to the user
@@ -46,7 +66,7 @@ def __init__(self,
 
     @classmethod
     def get_name(cls) -> str:
-        return "human_interaction"
+        return "human_option_control"
 
     @property
     def is_learning_based(self) -> bool:
@@ -65,7 +85,7 @@ def _solve(self, task: Task, timeout: int) -> Callable[[State], Action]:
         del timeout  # Unused parameter
 
         # If scripted option is enabled, use the scripted plan
-        if CFG.human_interaction_approach_use_scripted_option:
+        if CFG.human_option_control_approach_use_scripted_option:
             try:
                 option_plan = self._load_scripted_option_plan(task)
             except Exception as e:
@@ -91,7 +111,10 @@ def _option_policy(state: State) -> _Option:
             return option
 
         return utils.option_policy_to_policy(
-            _option_policy, max_option_steps=CFG.max_num_steps_option_rollout)
+            _option_policy,
+            max_option_steps=CFG.max_num_steps_option_rollout,
+            abstract_function=lambda s: utils.abstract(
+                s, self._get_current_predicates()))
 
     def _load_scripted_option_plan(self, task: Task) -> Sequence[_Option]:
         """Load and parse a scripted option plan from a file.
@@ -159,7 +182,7 @@ def prompt_user_for_option(self, state: State,
         for atom in sorted(current_atoms, key=str):
             print(f"  {atom}")
 
-        if CFG.human_interaction_approach_use_all_options:
+        if CFG.human_option_control_approach_use_all_options:
             return self._prompt_user_for_option_from_all(state, goal)
 
         return self._prompt_user_for_option_from_processes(

predicators/settings.py

@@ -590,9 +590,9 @@ class GlobalSettings:
     vlm_open_loop_use_training_demos = False
     vlm_open_loop_no_image = False  # Use object-centric state
 
-    # parameters for the human_interaction_approach
-    human_interaction_approach_use_scripted_option = False
-    human_interaction_approach_use_all_options = False
+    # parameters for the human_option_control_approach
+    human_option_control_approach_use_scripted_option = False
+    human_option_control_approach_use_all_options = False
     scripted_option_dir = "scripted_options"
     script_option_file_name = "scripted_plan.txt"
 

scripts/configs/predicatorv3/oracle.yaml

@@ -11,11 +11,11 @@ APPROACHES:
       demonstrator: "oracle_process_planning"
       terminate_on_goal_reached_and_option_terminated: True
       bilevel_plan_without_sim: True
-  # human_interaction:
-  #   NAME: "human_interaction"
+  # human_option_control:
+  #   NAME: "human_option_control"
   #   FLAGS:
-  #     human_interaction_approach_use_scripted_option: True
-  #     human_interaction_approach_use_all_options: True
+  #     human_option_control_approach_use_scripted_option: True
+  #     human_option_control_approach_use_all_options: True
   #     scripted_option_dir: "scripted_option_policies"
   #     skill_phase_use_motion_planning: True
   #     terminate_on_goal_reached_and_option_terminated: True

scripts/configs/predicatorv3/predicator_v3.yaml

@@ -2,11 +2,11 @@
 # Usage: python scripts/local/launch_simp.py -c predicatorv3/predicator_v3.yaml
 ---
 APPROACHES:
-  # human_interaction:
-  #   NAME: "human_interaction"
+  # human_option_control:
+  #   NAME: "human_option_control"
   #   FLAGS:
-  #     human_interaction_approach_use_scripted_option: True
-  #     human_interaction_approach_use_all_options: True
+  #     human_option_control_approach_use_scripted_option: True
+  #     human_option_control_approach_use_all_options: True
   #     scripted_option_dir: "scripted_option_policies"
   #     skill_phase_use_motion_planning: True
   oracle:

tests/test_skill_factories_integration.py

@@ -1480,8 +1480,8 @@ def test_coffee_place_no_button_press():
         f"PlaceJugInMachine — robot arm likely triggered the button.")
 
 
-def test_human_interaction_scripted_domino_solves_task():
-    """Full pipeline: human_interaction approach with scripted option plan
+def test_human_option_control_scripted_domino_solves_task():
+    """Full pipeline: human_option_control approach with scripted option plan
     (domino2.txt) solves the 1st test task in pybullet_domino."""
     try:
         from predicators.envs.pybullet_domino import PyBulletDominoEnv
@@ -1495,7 +1495,7 @@ def test_human_interaction_scripted_domino_solves_task():
 
     utils.reset_config({
         "env": "pybullet_domino",
-        "approach": "human_interaction",
+        "approach": "human_option_control",
         "seed": 0,
         "use_gui": False,
         "pybullet_control_mode": "position",
@@ -1514,8 +1514,8 @@ def test_human_interaction_scripted_domino_solves_task():
         "domino_has_glued_dominos": False,
         "keep_failed_demos": True,
         "skill_phase_use_motion_planning": True,
-        "human_interaction_approach_use_scripted_option": True,
-        "human_interaction_approach_use_all_options": True,
+        "human_option_control_approach_use_scripted_option": True,
+        "human_option_control_approach_use_all_options": True,
         "scripted_option_dir": "scripted_option_policies",
         "script_option_file_name": "domino2.txt",
     })
@@ -1528,7 +1528,7 @@ def test_human_interaction_scripted_domino_solves_task():
 
     options = get_gt_options(env.get_name())
     approach = create_approach(
-        "human_interaction",
+        "human_option_control",
         env.predicates,
         options,
         env.types,