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high_level_planning

Symbolic skill set extension for an agent relying on symbolic planning.

https://github.com/ethz-asl/high_level_planning

Science Score: 52.0%

This score indicates how likely this project is to be science-related based on various indicators:

  • ✓
    CITATION.cff file
    Found CITATION.cff file
  • ✓
    codemeta.json file
    Found codemeta.json file
  • ✓
    .zenodo.json file
    Found .zenodo.json file
  • ○
    DOI references
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    Academic publication links
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    Academic email domains
  • ✓
    Institutional organization owner
    Organization ethz-asl has institutional domain (www.asl.ethz.ch)
  • ○
    JOSS paper metadata
  • ○
    Scientific vocabulary similarity
    Low similarity (8.3%) to scientific vocabulary
Last synced: 6 months ago · JSON representation ·

Repository

Symbolic skill set extension for an agent relying on symbolic planning.

Basic Info
  • Host: GitHub
  • Owner: ethz-asl
  • License: bsd-3-clause
  • Language: Python
  • Default Branch: main
  • Homepage:
  • Size: 2.23 MB
Statistics
  • Stars: 4
  • Watchers: 8
  • Forks: 0
  • Open Issues: 0
  • Releases: 0
Created about 4 years ago · Last pushed over 2 years ago
Metadata Files
Readme License Citation

README.md

High Level Planning

This is the code implementing symbolic skill set extension for an agent relying on symbolic planning.

There are two options to run the code: either natively or in a docker container (no GUI available).

Run Natively

For this, please follow the instructions in highlevel_planning_ros/README.md.

Run in Docker

For this, a copy of Docker Desktop needs to be installed on your machine (https://www.docker.com/get-started).

Download version 2.1 of the Metric-FF symbolic planner from https://fai.cs.uni-saarland.de/hoffmann/metric-ff.html, extract it, and place it next to this file, such that the directory high_level_planning/Metric-FF-v2.1 contains the Metric-FF source code.

Build the Docker container:

bash docker build -t hlp_docker .

Launch the container:

bash docker run -it --rm hlp_docker

You should end up in a bash shell within the container. From here, our exploration algorithm can be run (only in direct mode since no GUI is available from within the container):

| Domain | Algorithm | Command | |---------------------------|-----------|----------------------------------------------| | PDDL benchmark domain | ours | python3 scripts/run_pddl_benchmark_ours.py | | PDDL benchmark domain | MCTS | python3 scripts/run_pddl_benchmark_mcts.py | | Rearrangement task domain | ours | python3 scripts/run_auto.py -m direct | | Rearrangement task domain | MCTS | python3 scripts/run_mcts.py -m direct |

More details on changing configurations, etc. can be found in the other readme.

Owner

  • Name: ETHZ ASL
  • Login: ethz-asl
  • Kind: organization
  • Location: Zurich, Switzerland

Citation (CITATION.cff) 

cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
- family-names: "Förster"
  given-names: "Julian"
  orcid: "https://orcid.org/0000-0002-1163-1065"
- family-names: "Ott"
  given-names: "Lionel"
- family-names: "Nieto"
  given-names: "Juan"
  orcid: "https://orcid.org/0000-0003-4808-0831"
- family-names: "Lawrance"
  given-names: "Nicholas"
  orcid: "https://orcid.org/0000-0003-2167-7427"
- family-names: "Siegwart"
  given-names: "Roland"
- family-names: "Chung"
  given-names: "Jen Jen"
  orcid: "https://orcid.org/0000-0001-7828-0741"
title: "Automatic extension of a symbolic mobile manipulation skill set - Code Release"
version: 1.0.0
// doi:
date-released: 2022-02-25
url: "https://github.com/ethz-asl/high_level_planning"
preferred-citation:
  type: article
  authors:
  - family-names: "Förster"
    given-names: "Julian"
    orcid: "https://orcid.org/0000-0002-1163-1065"
  - family-names: "Ott"
    given-names: "Lionel"
  - family-names: "Nieto"
    given-names: "Juan"
    orcid: "https://orcid.org/0000-0003-4808-0831"
  - family-names: "Lawrance"
    given-names: "Nicholas"
    orcid: "https://orcid.org/0000-0003-2167-7427"
  - family-names: "Siegwart"
    given-names: "Roland"
  - family-names: "Chung"
    given-names: "Jen Jen"
    orcid: "https://orcid.org/0000-0001-7828-0741"
  doi: "https://doi.org/10.1016/j.robot.2023.104428"
  journal: "Robotics and Autonomous Systems"
  month: 7
  start: 104428 # First page number
  // end: 10 # Last page number
  title: "Automatic extension of a symbolic mobile manipulation skill set"
  volume: 165
  year: 2023

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Dependencies

Dockerfile docker
  • ros noetic-ros-core build
highlevel_planning_ros/requirements.txt pypi
  • PyYAML *
  • argparse *
  • icecream *
  • matplotlib ==3.6.0
  • networkx *
  • numpy ==1.23.4
  • pandas ==1.5.1
  • pddl_parser e7f68b
  • pybullet ==3.2.5
  • pydot *
  • pytest *
  • scipy ==1.9.3
  • seaborn ==0.12.1
  • tqdm *
  • urdf-parser-py *
highlevel_planning_ros/setup.py pypi