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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 that an issue has been resolved, feel free to remove the thread and update the main page.
• If you think an important issue is overlooked, reply to the thread or create a TODO item in the header of the page (this should generate a New Message for each contributor).

Contents

• Requirements (based on the article by Neil)
  • Task Planning Requirements
  • Motion Planning Requirements
  • Task-Motion Interface Requirements
• General Assumptions
• Metrics
• Problems
• Practical Issues

Discussions

• Comments from Neil
• Comments from Calean