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 problem5 of chargeable_robot, use the commands:

cd ./RAE_and_UPOM
python3 testRAEandUPOM.py --domain CR --problem problem5

Docker Setup Steps:

Install Docker: https://docs.docker.com/get-docker/

Run ./buildDocker.sh only once

Run docker ps -a to get the container_ID

docker start container_ID
docker attach container_ID
cd /app/ICAPS_Summer_School_RAE_2020/RAE_and_UPOM 
python3 testRAEandUPOM.py --domain CR --problem problem5
exit # To exit from docker container 

Test Domains

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

1. domain_chargeableRobot: A chargeable robot collecting different objects
2. domain_springDoor: Robot needs to collect objects in an environment with spring doors and ordinary doors
3. domain_exploreEnv: Robots and UAV move through a partially mapped terrain and collects various data
4. domain_searchAndRescue: UAVs and UGVs carry out search and rescue operations
5. domain_orderFulfillment: Robots pack objects in a warehouse and deliver them to a loading dock
6. domain_test: To modify and play with

How to run?

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

python3 testRAEandUPOM.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 ("CR", "SD", "SR", "EE", OF", "test") (see below)
  --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

Domain ID are as follows:

• chargeableRobot: 'CR',
• springDoor: 'SD',
• exploreEnv: 'EE',
• searchAndRescue: 'SR'
• orderFulfillment: 'OF',
• test: 'test'

How to add new problems?

Please go inside the folder ./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 SD domain with problemId problem1 should be named problem1_SD.py.