RAE and UPOM

RAE and UPOM together form a refinement acting-and-planning engine.

Conda Setup Steps:

Install conda: https://docs.conda.io/projects/conda/en/latest/user-guide/install/

conda env create -f RAE.yml
conda activate RAE

To test problem1 of fetch via command line, use the commands:

python3 main.py --domain fetch --problem problem1

To test using the visual GUI, simply run main_interface.py

Test Domains

We have the following domains in the ./domains folder.

1. domain_fetch: A chargeable robot collecting different objects
2. domain_nav: Robot needs to collect objects in an environment with spring doors and ordinary doors
3. domain_explore: Robots and UAV move through a partially mapped terrain and collects various data
4. domain_rescue: UAVs and UGVs carry out search and rescue operations
5. domain_deliver: Robots pack objects in a warehouse and deliver them to a loading dock

How to run?

To test on any domain, use the following command in terminal

python3 main.py [-h] [--v V] [--domain D] [--problem PROBLEMNAME] 

optional arguments:
  -h, --help  	show this help message and exit
  --v V      	verbosity of RAE and UPOM's debugging output (0, 1 or 2)
  --domain D    domain ID of the test domain ("fetch", "nav", "rescue", "explore", deliver") 
  --problem P   problem id for the problem eg. 'problem1', 'problem2', etc. The problem id should correspond to a problem inside the folder 'problems/domain'.
  --n_RO numRollouts 	Number of rollouts of UPOM

How to add new problems?

Please go inside the folder ./domains//problems/ to view examples of problem files. A problem file specifies the initial state, the tasks arriving at different times and various parameters specific to the domain. Please follow the following syntax to name a problem file.

problemId_DomainID.py

For example, a problem of fetch domain with problemId problem1 should be named problem1_fetch.py.