CPOMDPExperiments

Using Julia 1.6

To install, in a Julia REPL:

1. Activate the local environment with ] activate .

2. Develop the constrained solver packages with include("develop.jl")

3. Install remaining dependencies from the Manifest using ] instantiate

To run experiments in the installed environment, include an experiment file julia --project=. [filepath]. Experiment files are

- `experiments/run_*.jl` for the main comparison
- `experiments/pareto_frontier.jl` to generate the pareto plot
- `experiments/cost_prop_exp.jl` to compare minimal cost propagation

Experiments result files are included in the results folder. Summaries can be quickly printed with the load_and_print function, e.g.:

julia --project=. -e 'using CPOMDPExperiments; load_and_print("results/spillpoint_pft_10sims.jld2")'

Installation bugs

Runtime warnings are expected. If installation errors occur from trying to install the frozen manifest, you can try direct package installation:

1. Deleting the Manifest.toml file

2. From the Project.toml file, remove the lines for the four packages under development

3. Run julia --project=. install.jl

Citation

If you found this repo useful, please cite our ICAPS paper (available on Arxiv here).

@inproceedings{jamgochian2023online,
  author = {Arec Jamgochian and Anthony Corso and Mykel J. Kochenderfer},
  title = {Online Planning for Constrained {POMDP}s with Continuous Spaces through Dual Ascent}
  booktitle = {International Conference on Automated Planning and Scheduling (ICAPS)},
  year = {2023}
}