===== Tutorials plan 2016/2017 =====

^ Lecture ^ Date ^ Lecturer ^ Contents ^ Materials ^ Assignments ^
| 1.  | 20. 2. | Michal Štolba  | Planning basics, representation, PDDL & planners | {{T1-organization.pdf|organization}} {{T1-quiz.pdf|quiz}} {{T1-pddl.pdf|PDDL}} {{logistics-example.zip|logistics}} {{logistics-costs.zip|logistics with costs}}   | |
| 2.  | 27. 2. | Michal Štolba  | Planners, PDDL & Compilations  |  {{T2-planners.pdf|planners}} {{compilations.zip|compilations}} {{compilations-solved.zip|compilations solved}}  |  |
| 3.  | 6. 3. | Michal Štolba  | Relaxation heuristics | {{T3-assignment.pdf|Assignment 1}} {{T3-quiz.pdf|Quiz}} {{ex_relaxation.pdf|Example}} {{logistics-temporal.zip|temporal logistics}} {{logistics-numeric.zip|numeric logistics }}  | Assignment 1 handout |
| 4.  | 13. 3.  | <del>Michal Štolba</del> Daniel Fišer  | Landmark heuristics | {{t4-landmarks.pdf|Landmarks}} {{t4-lmcut-fiser.pdf|LM-Cut}} {{ex_lmcut.pdf|Example}} | |
| 5.  | 20. 3. | Michal Štolba  | Abstraction heuristics | {{ex_abstraction.pdf|Example}} | Assignment 1 Consultations |
| 6.  | 27. 3. | Michal Štolba  | Linear Program formulation of heuristics | {{t6-lp.pdf|LP heuristics}} {{cplex.zip|CPLEX examples}}  {{ex_lp_1.pdf|example1}} {{ex_lp_2.pdf|example2}} | |
| 7. | 3. 4. | Michal Štolba  | Plan Space Search, Hierarchical Planning | {{T7-pop.pdf|PSS/POP}} {{T7-HTN.pdf|HTN}} {{HTN.zip|HTN example}} |  |
| 8. | 10. 4. | Michal Štolba  | Multi-Agent Planning | {{T8-MAP.pdf|MAP}} | Assignment 1 Deadline |
| 9.  | 17. 4. | -  | <del>Easter Monday</del> | - | Assignment 1 0-point Deadline |
| 10.  | 24. 4.  | Michal Čáp  | FF-replan | [[courses:ae4m36pah:assignments:emil1|]] | |
| 11. | 2. 5. **Tuesday** :!:  | Michal Čáp  | MCTS for MDPs | [[http://www2.informatik.uni-freiburg.de/~ki/papers/keller-helmert-icaps2013.pdf| THTS paper ]]| |
| 12. | 11. 5. **Thursday** :!: | Michal Čáp  | MCTS 2 | [[https://cw.fel.cvut.cz/wiki/lib/exe/fetch.php?hash=cc9d8b&media=https%3A%2F%2Fcourses.cs.washington.edu%2Fcourses%2Fcse573%2F12au%2Fslides%2F07-mcp.pdf | Monte-carlo planning slides ]] | |
| 13. | 15. 5. |Michal Čáp  | Motion Planning I | {{:courses:ae4m36pah:motion-planning.pdf | motion planning tutorial}} | |
| 14. | 22. 5. | Michal Čáp, Michal Štolba  | Motion Planning II | {{:courses:ae4m36pah:motion-planning.pdf | motion planning tutorial}}  | |

==== English vs. Czech ====
  * The first tutorial (11:00-12:30) will be held in **Czech**
  * The second tutorial (12:45-14:15) will be held in **English** (unless all students present are ok with Czech) 


==== PAH Robotic planning workshop ====
The motion planning algorithms will be discusses during the last two tutorials. 

==== Planners ====
  * {{:courses:a4m36pah:assignments:pah2015_planners.zip|planners}}
  * Pre-built for 64bit Ubuntu
  * Including sources (you may build them yourself)

==== Online PDDL Editor ====
  * [[http://editor.planning.domains|PDDL editor]]
  * Default timeout 10s
To run a particular planner (timeout 15 min., 500MB memory limit):
In Solve/Custom Planner URL put: http://fornix.felk.cvut.cz:5000/[planner] where
planner = 
  * ff - FF planner
  * siw - LAPKT siw-then-bfsf configuration
  * lama - LAMA planner
  * mercury - mercury planner
  * probe - probe planner
  * yahsp3 - yahsp planner
  * ms - A* with Merge&Shring heuristic (optimal)
  * lmcut - A* with LM-Cut heuristic (optimal)
  * symba - symba planner (optimal)
  * metricff - numeric variant of FF (numeric)

To run a numeric/temporal planner (OPTIC), use: http://fornix.felk.cvut.cz:5001 or http://temporal-solver.herokuapp.com

Important :!:
  * The planners are running on a single computer, do not overload it!
  * The timeout is 15min, nothing may happen during that time (and it is ok)

==== Fun tasks ====
  * Solve the sokoban problem by 
   -  hand 
   - writing a domain for the given problem description and running a planner 
  *[[http://www.sokobanonline.com/play/community/hansz/122359_nr-20|sokoban]] {{sokoban.zip|sokoban-problem}}