This repository contains the code that was used for the paper "Towards computing low-makespan solutions for multi-arm multi-task planning problems". A writeup of the content can be found here, and the paper itself is here. It is under active development, the version that was used to produce the result in the paper is tagged.

Installation

The code depends on rai and rai-robotModels. The path to rai needs to be added in the Makefile, and rai-robotModels should be in the same parent forlder as this project.

Compilation then works with

make -j8

In case of issues, try

make cleanAll

To update dependencies

make depend

Also have a look at the intructions in 'rai'.

Usage

Flags:

• mode [test/show_plan/random_search/greedy_random_search/simulated_annealing]
• pnp [true/false]
• stippling_pts [lots]
• env [lab/'']

To Do

Misc

• Ensure correct dependencies of rai/rai-robotModels: possibly make a submodule
• Tests
• Performance benchmark to ensure changes improve things
• Optimization benchmark to compare different search approaches

Code

• split main planning subroutine
• fix loading and visualization of previously computed paths
• get rid of warnings

Speed improvements

• squeaky wheel planner
• simulated annealing
• speed up komo runs
• more sensible search approach: use the fact that we can cache the end

Capabilities

• enable things that are not only 'go to point', e.g. drawing a line
• Take multiple poses into account for 'go to point' tasks
• enable search over sequences with precendence constraints
• time-rescale path
• enable multi-arm cooperation
• look into more complex motion planning:
  • joint optimization
  • constrained sampling based planning
  • inspired by the CMA-ES method?
• more statistics
• joint optimization over the whole path
• reuse more computations (e.g., dummy paths)
• better (closed form?) approximation of lower bound

Execution

• Replanning?
• Controller synthesis
• Optimizing for robustness

Citation

If you use this codebase in your research, please cite the paper where the codebase is from as

@misc{23-hartmann-ICAPSws-robplan,
  title = {Towards computing low-makespan solutions for multi-arm
  		  multi-task planning problems},
  author = {Hartmann, Valentin N. and Toussaint, Marc},
  year = {2023},
  howpublished = {ICAPS Workshop on Planning and Robotics},
  arxiv_pdf = {2305.17527}
}