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About this Wiki
Following the discussions at the TAMP workshop in RSS2016, a discussion group (see Contributors below) about TAMP benchmarking was created to come up with a set of benchmark problems for TAMP. Our discussions and the resulting benchmarks can be found in the TAMP FO-DA section in the Contents menu. A paper is also available here. Our approach was 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.
However, since TAMP covers a wide range of problems, it was not possible to come up with a set of benchmarks for all TAMP problems. Therefore the Contents of the wiki are organized according to subclasses of TAMP. If you find the assumptions and requirements we have made for TAMP FO-DA incompatible with the type of problems you are interested in, please create your own set of benchmarks by adding a new entry in the Contents section.
Contents
- TAMP FO-DA : Fullly Observable, Deterministic Actions
- TAMP PO-NDA : Partially Observable, Non Deterministic Actions - TODO
- TAMP MP : Manipulation Planning (no symbolic planning) - TODO
- TAMP Physics : Handling frictions (push-pull), gravity (building stable structures), dynamics - TODO
- Create your own...
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:
- Edit the side bar menu: http://tampbenchmark.aass.oru.se/index.php?title=MediaWiki:Sidebar
- Add the following at the end (in Discussions): ** my_new_discussion_topic|My new discussion topic (replace with your actual topic)
- Save your changes.
- It should appear in the side menu. Click on it: the page does not exist, create it. Done.
- If you want this page to be a discussion thread itself, add the following code and save it : {{#useliquidthreads:1}}
Contact
If you want to join the discussion group, contact me at fabien[dot]lagriffoul[at]oru[dot]se.
Contributors
Fabien Lagriffoul (Orebro University, Sweden.)
Neil T. Dantam (Colorado School of Mines, USA)
Caelan Garrett (Massachusetts Institute of Technology, USA)
Ali Akbari (Tech. U. of Catalonia, Spain)
Siddharth Srivastava (Arizona State University, USA)
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.
