Difference between revisions of "Main Page"

Revision as of 19:23, 24 February 2018

  TODO :  Calean, Neil, Siddharth, could you please adjudicate for the polls ? --Fabien (talk) 16:12, 10 January 2017 (CET)

About this Wiki

Following the discussions at the TAMP workshop in RSS2016, a document was sketched for initiating thinking together about benchmarking for CTAMP planners. This wiki was created based on the previous document : we need more space to conduct proper discussions, and we may also have to share downloadable content later on. For now, the contents of the document were simply copy-pasted into different pages (sections Contents and Discussions below). Participants are invited to comment, correct, discuss, and bring their ideas.

Aims

My proposal is to start with a set of simple benchmark problems, which can be handled by the largest number of existing systems. This requires to identify the least common denominator, in terms of requirements and problem specification, at logical and geometric levels.

These requirements will be extended later on, but in order to reach a “critical mass” so that enough people start using these benchmarks and disseminate them through their publications, we need to begin with something simple and accessible.

How to edit this document

• The sections of the original document correspond to the different pages below (Contents and Discussions).
• In the Contents section, the comments have been pasted in the Discussion pages, in the form of discussion threads.
• If you think an important issue is overlooked, create a TODO item or reply to the thread (this should generate a New Message in each contributor's message box in the top-right menu).
• Note that there is an Atom feed for each discussion page (left menu) you can subscribe to for getting updated with new replies. You can also adjust your preferences (top right menu) for getting notified by email.
• If you think that an issue has been resolved, feel free to remove the thread / TODO and update the corresponding page.
• Syntax for signature: --~~~~

In order to add a new discussion topic, proceed as follow:

1. Edit the side bar menu: http://tampbenchmark.aass.oru.se/index.php?title=MediaWiki:Sidebar
2. Add the following at the end (in Discussions): ** my_new_discussion_topic|My new discussion topic (replace with your actual topic)
3. Save your changes.
4. It should appear in the side menu. Click on it: the page does not exist, create it. Done.
5. If you want this page to be a discussion thread itself, add the following code and save it : {{#useliquidthreads:1}}

Contents

• TAMP Problem Definition
• Requirements (based on the article by Neil^[1])
  • Task Planning Requirements
  • Motion Planning Requirements
  • Task-Motion Interface Requirements
• General Assumptions
• Metrics
• Problems
• Practical Issues

Discussions

• Comments from Neil
• Comments from Calean
• Comments from Siddharth

Contact

If you want to join the discussion group, contact me at fabien[dot]lagriffoul[at]oru[dot]se.

Support

This initiative is supported by the Swedish Knowledge Foundation (KKS) project Semantic Robots. It is also supported by NSF grants IIS 1317849 and CCF-1514372 to the Kavraki Lab at Rice University, USA.

RSS Workshops

• 2017: Task and Motion Planning RSS 2017
• 2016: Task and Motion Planning RSS 2016

References

1. ↑ Neil T. Dantam, Zachary K. Kingston, Swarat Chaudhuri, and Lydia E. Kavraki, Incremental Task and Motion Planning: A Constraint-Based Approach, (TAMP Workshop, RSS2016).