Difference between revisions of "Problems"

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(Description)
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{| class="wikitable" style="text-align: center;
 
{| class="wikitable" style="text-align: center;
 
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! Features !! Pb 1 !! Pb 2 !! Pb 3 !! Pb 4 !! Pb 5 !! Discussed in
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! Features !! Pb 1 !! Pb 2 !! Pb 3 !! Pb 4 !! Pb 5 !! Pb6 !!Discussed in
 
|-
 
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| blocking objects          ||  ||  ||   || X || X || [[Comments_from_Calean#Benchmarking_suggestion_3_17|bench. sugg. 3]]
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| blocking objects          ||  ||  || X || X ||   ||    || [[Comments_from_Calean#Benchmarking_suggestion_3_17|bench. sugg. 3]]
 
|-
 
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| large task spaces        || X || X ||  ||  ||  ||  [[Comments_from_Calean#Benchmarking_suggestion_3_17|bench. sugg. 3]], [[Comments_from_Neil#Difficult_problem_instances_10|diff. pb. inst.]]
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| large task spaces        || X || X ||  ||  ||  ||  ||  [[Comments_from_Calean#Benchmarking_suggestion_3_17|bench. sugg. 3]], [[Comments_from_Neil#Difficult_problem_instances_10|diff. pb. inst.]]
 
|-
 
|-
| narrow passages          ||  ||  ||  ||  ||  ||  [[Comments_from_Calean#Benchmarking_suggestion_3_17|bench. sugg. 3]], [[Comments_from_Neil#Difficult_problem_instances_10|diff. pb. inst.]]
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| narrow passages          ||  ||  ||  ||  ||  ||  ||  [[Comments_from_Calean#Benchmarking_suggestion_3_17|bench. sugg. 3]], [[Comments_from_Neil#Difficult_problem_instances_10|diff. pb. inst.]]
 
|-
 
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| infeasible task operators || x || X ||  ||  ||  ||  [[Comments_from_Calean#Benchmarking_suggestion_3_17|bench. sugg. 3]], [[Comments_from_Neil#Difficult_problem_instances_10|diff. pb. inst.]]
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| infeasible task operators || x || X ||  ||  ||  ||  ||  [[Comments_from_Calean#Benchmarking_suggestion_3_17|bench. sugg. 3]], [[Comments_from_Neil#Difficult_problem_instances_10|diff. pb. inst.]]
 
|-
 
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| trade-off motion planning/task planning ||  || X ||  ||  ||  ||  [[Talk:Problems#Difficult_problem_instances_10|diff. pb. inst.]]
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| trade-off motion planning/task planning ||  || X ||  ||  ||  ||  ||  [[Talk:Problems#Difficult_problem_instances_10|diff. pb. inst.]]
 
|-
 
|-
| non-monotonicity          ||  ||  || X ||  || X ||  [[Talk:Problems#Benchmarking_suggestion_4_27|bench. sugg. 4]]
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| non-monotonicity          ||  ||  ||  || X ||  || 0 ||  [[Talk:Problems#Benchmarking_suggestion_4_27|bench. sugg. 4]]
 
|-
 
|-
|requires actions beyond movement  ||  ||  ||  ||  || ||  [[Talk:Problems#Comment_4_52|Sidd. comment 4]]
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|requires actions beyond movement  ||  ||  ||  ||  ||  ||   ||  [[Talk:Problems#Comment_4_52|Sidd. comment 4]]
 
|-
 
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|NAMO  ||  || ?  || X || X || X ||  [[Talk:Problems#Comment_4_52|Sidd. comment 4]]
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|NAMO  ||  || ?  || X || X ||   ||  X ||  [[Talk:Problems#Comment_4_52|Sidd. comment 4]]
 
|}
 
|}
  

Revision as of 20:30, 22 February 2018

Table summarizing some features we want to test. To be refined or extended.

Features Pb 1 Pb 2 Pb 3 Pb 4 Pb 5 Pb6 Discussed in
blocking objects X X bench. sugg. 3
large task spaces X X bench. sugg. 3, diff. pb. inst.
narrow passages bench. sugg. 3, diff. pb. inst.
infeasible task operators x X bench. sugg. 3, diff. pb. inst.
trade-off motion planning/task planning X diff. pb. inst.
non-monotonicity X 0 bench. sugg. 4
requires actions beyond movement Sidd. comment 4
NAMO  ? X X X Sidd. comment 4


Problem 1 : Tower of Hanoi

problem 1 problem 1 problem 1

Description

Tower of Hanoi with mobile robots[1].

Challenge

For n discs, 2n - 1 moves are needed (in the non-geometric case).
Placing a disk on the central rod may prevent, depending on their relative sizes, to transfer discs from rod 1 to rod 3 (or vice versa).
The problem has been adapted to a humanoid robot setup. The idea is to have similar geometric constraints by setting the positions of the rods in a triangular shape and by using "thick" discs, in order to cause collisions between forearms and discs.

Download

Download page

Problem 2 : Blocks-World 3D

problem 2

Description

Using top-grasps only, and not using hand-over, stack the blocks in alphabetical order anywhere (on the table, or on one of the trays).
With a PR2 robot, the flying obstacle would be lower.

Challenge

Because of the "hovering obstacle", the pile cannot be built on the table.
Because of the "hovering obstacle", no more than 2 blocks can be stacked on the table (then the wrist touches the obstacle).
Whether the red or blue tray is chosen as location for building the pile, both initial piles need to be unstacked somewhere, somewhere reachable by both arms: R.
R is limited in size, and no more than 2 blocks can be stacked in this region, so there is a trade-off between:

  • a short symbolic plan with a cluttered R
  • a long symbolic plan with manageable R

Here is an example of solution.

Download

Download page

Problem 3 : Sorting Objects

problem 4

Description

The goal constraints are that all 7 blue blocks must be on the left table and all 7 green blocks must be on the right table. There are also 14 red blocks.

Challenge

The close proximity of the blocks forces the planner to carefully order its operations as well as to move red blocks out of the way.

Problem 4 : Non-Monotonic

problem 5

Description

The robot must move the green blocks from the left table to a corresponding position on the right table. Both the initial and goal poses are blocked by four blue and cyan blocks respectively.

Challenge

Critically, the blue and cyan blocks have goal conditions to remain in their initial poses. This is the source of the nonmonotonicity as the robot must undo several goals by moving the blue and cyan blocks in order to solve the problem.

Problem 5 : Kitchen

problem 5

Description

The robot must obtain two green cabbages from the shelves, clean them on the dishwasher, cook them on the microwave, and serve them. Additionally, the robot must organize the dirty cups on the table, clean them, and set the table.

Challenge

Problem 6 : Rearrangement Planning (replaced by problem 3)

problem 3

Description

The goal is to exchange the positions (i.e., the centre of objects) of the red object and the tray.

Challenge

One of the two objects has to be moved first to a temporary location. This may require to move other objects around, carefully choosing places that do not interfere.

The rearrangement planning problem [2] [3].

References

  1. S. Cambon, R. Alami, and F. Gravot. A hybrid approach to intricate motion, manipulation and task planning. The Int. Journal of Robotics Research, 2009.
  2. G. Havur et al., Geometric rearrangement of multiple movable objects on cluttered surfaces: A hybrid reasoning approach, Proceedings of ICRA 2014.
  3. F. Lagriffoul, B. Andres, Combining Task and Motion Planning: a culprit detection problem, The International Journal of Robotics Research, 2016.