POMDP Planner with Hybrid Dynamics
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README.md

POMDP-HD

Hierarchical POMDP Planner for Hybrid Dynamics. Relevant details can be found in our paper: Efficient Hierarchical Robot Motion Planning Under Uncertainty and Hybrid Dynamics

Run an example

  1. Compile cython package
cd planner/core/cython
python setup.py build_ext --inplace
  1. Find solution
cd planner/
python run_main.py

Test on a new problem

  1. Define problem definition
cd planner/core/src/dynamics/ 
gedit belief_evolution.cpp
  1. Update parameter values for trajectory optimization

  2. Compile cython package

cd planner/core/cython
python setup.py build_ext --inplace
  1. Find solution
cd planner/
python run_main.py

Define a new problem

TODO

Contact

In case of any questions, please feel free to contact at ajinkya@utexas.edu.