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Benchmarks for CTAMP
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 this document : we need more space to conduct proper discussions, and we may also have to share downloadable content later on. For now, I simply copy-pasted the contents of the previous document into different pages. Participants are invited to comment, correct, discuss, and bring their ideas.
Aims
My perception of the current state of the field is that different groups are still exploring “variations” of the CTAMP problem, based on their own research interests, tools and experience. For this reason, defining a common language to specify CTAMP problems is, in my opinion, premature at this stage (or rather: it has to be done sooner or later, but this document does not address this issue). 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.
Contents
- Requirements (based on the article by Neil[1])
- General Assumptions
- Metrics
- Problems
- Practical Issues
Discussions
References
- ↑ Neil T. Dantam, Zachary K. Kingston, Swarat Chaudhuri, and Lydia E. Kavraki, Incremental Task and Motion Planning: A Constraint-Based Approach, (TAMP Workshop, RSS2016).
