AutoTAMP (Website, ICRA 2024)

Paper Link: https://arxiv.org/pdf/2306.06531.pdf

Requirements

Please install the Gurobi optimizer by following the instructions on the official website https://www.gurobi.com/products/gurobi-optimizer/ You might be eligible for a free academic license https://www.gurobi.com/academia/academic-program-and-licenses/

Then install the following Python packages.

pip install numpy matplotlib pypoman openai re random time copy

Then you need to get your OpenAI key from https://beta.openai.com/ Put that OpenAI key starting 'sk-' into the openai_func.py, line9

Usage

Run the autotamp_single_agent.py to test the AutoTAMP method (with/without checkers). From line7 to line11, set up the parameters for syntactic check, semantic check, domain, your working path dir, and model choice. Then run the script:

python autotamp_single_agent.py

For testing the Task Planning method, also set up the parameters for domain, your working path dir, and model choice. Then run the script:

python llm_task_plan.py

The experimental results will appear in the dir experiment_result.

Visualization

We have uploaded the AutoTAMP_plotting.ipynb and Example_results directory to give the visualization examples. During the experiments, myfile{i}.txt will be created to record the position/time waypoints, which are used for visualization when giving the environmental plots.

Cite

@article{chen2023autotamp, title={AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers}, author={Chen, Yongchao and Arkin, Jacob and Zhang, Yang and Roy, Nicholas and Fan, Chuchu}, journal={arXiv preprint arXiv:2306.06531}, year={2023} }

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