Table of Contents
Tutorials plan 2016/2017
| Lecture | Date | Lecturer | Contents | Materials | Assignments |
|---|---|---|---|---|---|
| 1. | 20. 2. | Michal Štolba | Planning basics, representation, PDDL & planners | organization quiz PDDL logistics logistics with costs | |
| 2. | 27. 2. | Michal Štolba | Planners, PDDL & Compilations | planners compilations compilations solved | |
| 3. | 6. 3. | Michal Štolba | Relaxation heuristics | Assignment 1 Quiz Example temporal logistics numeric logistics | Assignment 1 handout |
| 4. | 13. 3. | | Landmark heuristics | Landmarks LM-Cut Example | |
| 5. | 20. 3. | Michal Štolba | Abstraction heuristics | Example | Assignment 1 Consultations |
| 6. | 27. 3. | Michal Štolba | Linear Program formulation of heuristics | LP heuristics CPLEX examples example1 example2 | |
| 7. | 3. 4. | Michal Štolba | Plan Space Search, Hierarchical Planning | PSS/POP HTN HTN example | |
| 8. | 10. 4. | Michal Štolba | Multi-Agent Planning | MAP | Assignment 1 Deadline |
| 9. | 17. 4. | - | | - | Assignment 1 0-point Deadline |
| 10. | 24. 4. | Michal Čáp | FF-replan | emil1 | |
| 11. | 2. 5. Tuesday  | Michal Čáp | MCTS for MDPs | THTS paper | |
| 12. | 11. 5. Thursday | Michal Čáp | MCTS 2 | Monte-carlo planning slides | |
| 13. | 15. 5. | Michal Čáp | Motion Planning I | motion planning tutorial | |
| 14. | 22. 5. | Michal Čáp, Michal Štolba | Motion Planning II | 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
- Pre-built for 64bit Ubuntu
- Including sources (you may build them yourself)
Online 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