Parameterize Wait option with target atoms for noise-robust termination#19
Merged
yichao-liang merged 3 commits intomasterfrom Apr 1, 2026
Merged
Parameterize Wait option with target atoms for noise-robust termination#19yichao-liang merged 3 commits intomasterfrom
yichao-liang merged 3 commits intomasterfrom
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Wait previously terminated on any atom change, making it sensitive to
incidental physics noise. Now Wait can be parameterized with specific
target atoms (positive or negative) that must be satisfied before
termination. Falls back to any-atom-change when no targets are specified.
- Add check_wait_target_atoms, parse_wait_target_annotations,
strip_wait_annotations, inject_wait_targets_for_option to utils.py
- Update option_model.py termination + memory propagation through re-grounding
- Update LLM prompts in agent_planner, agent_bilevel, agent_option_learning
approaches to document -> {atoms, NOT atoms} annotation syntax
- Parse and inject Wait targets in agent_planner and agent_bilevel approaches
- Inject Wait targets from atoms_sequence in process planning paths
- Add tests for target atom termination, including noisy-atom-ignored test
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Summary
check_wait_target_atoms,parse_wait_target_annotations,strip_wait_annotations,inject_wait_targets_for_optionutilities-> {atoms, NOT atoms}annotation syntax for Wait stepsTest plan
pytest tests/approaches/test_agent_bilevel_approach.py