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config
config
 
 
.gitignore
.gitignore
 
 
README.md
README.md
 
 
abstract_motion_planning_game_sequential.py
abstract_motion_planning_game_sequential.py
 
 
abstract_motion_planning_game_subgoal.py
abstract_motion_planning_game_subgoal.py
 
 
assert_panda_start_goals.py
assert_panda_start_goals.py
 
 
config_utils.py
config_utils.py
 
 
disks_manager.py
disks_manager.py
 
 
disks_subgoal_game.py
disks_subgoal_game.py
 
 
episode_runner_sequential.py
episode_runner_sequential.py
 
 
episode_runner_subgoal.py
episode_runner_subgoal.py
 
 
episode_runner_subgoal_sequential.py
episode_runner_subgoal_sequential.py
 
 
generate_panda_test_start_goals.py
generate_panda_test_start_goals.py
 
 
gradient_limit_manager.py
gradient_limit_manager.py
 
 
hyperparameter_tester.py
hyperparameter_tester.py
 
 
log_utils.py
log_utils.py
 
 
model_saver.py
model_saver.py
 
 
network_sequential.py
network_sequential.py
 
 
network_subgoal.py
network_subgoal.py
 
 
network_subgoal_sequential.py
network_subgoal_sequential.py
 
 
network_utils.py
network_utils.py
 
 
panda_game_sequential.py
panda_game_sequential.py
 
 
panda_game_subgoal.py
panda_game_subgoal.py
 
 
panda_scene_manager.py
panda_scene_manager.py
 
 
path_helper.py
path_helper.py
 
 
point_robot_game_sequential.py
point_robot_game_sequential.py
 
 
point_robot_game_subgoal.py
point_robot_game_subgoal.py
 
 
point_robot_manager.py
point_robot_manager.py
 
 
point_robot_ompl_planner.py
point_robot_ompl_planner.py
 
 
potential_point.py
potential_point.py
 
 
print_test_trajectories.py
print_test_trajectories.py
 
 
requirements.txt
requirements.txt
 
 
sequential_main.py
sequential_main.py
 
 
sgt_pg_main.py
sgt_pg_main.py
 
 
subgoal_sequential_main.py
subgoal_sequential_main.py
 
 
summaries_collector.py
summaries_collector.py
 
 
temp_visualize_value_function.py
temp_visualize_value_function.py
 
 
test_setup.py
test_setup.py
 
 
trainer_sequential.py
trainer_sequential.py
 
 
trainer_subgoal.py
trainer_subgoal.py
 
 
trainer_subgoal_sequential.py
trainer_subgoal_sequential.py
 
 
visualize_panda_direct_path.py
visualize_panda_direct_path.py
 
 
visualize_panda_path.py
visualize_panda_path.py
 
 
visualize_panda_path_2.py
visualize_panda_path_2.py
 
 
visualize_point_robot_trajectory.py
visualize_point_robot_trajectory.py
 
 
workspace_generation_utils.py
workspace_generation_utils.py
 
 

README.md

install: via requirements file

Run:

run sgt (SGT-PG) with sgt_main.py, control run parameters with data/config/config.yml

run subgoal-sequential (SeqSG) with subgoal_sequential_main.py, control run parameters with data/config/config_subgoal_sequential.yml

run sequential (sequential NMP with PPO) with sequential_main.py, control run parameters with data/config/config_sequential.yml.

scenarios names in the paper to names in the code: self-collision -> no-obs wall -> easy poles -> poles