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blog:cram_plan_transformation [2018/05/18 16:29]
arthur
blog:cram_plan_transformation [2018/05/18 22:14] (current)
arthur
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 <​html><​div style="​float:​right;​ margin-left:​10px;"><​iframe width="​320"​ height="​215"​ src="​https://​www.youtube.com/​embed/​ilw52eAyuJQ"​ frameborder="​0"​ allowfullscreen></​iframe></​div></​html>​ <​html><​div style="​float:​right;​ margin-left:​10px;"><​iframe width="​320"​ height="​215"​ src="​https://​www.youtube.com/​embed/​ilw52eAyuJQ"​ frameborder="​0"​ allowfullscreen></​iframe></​div></​html>​
-Over the last decadesplan transformation has been pursued by various researchers. Lately ​the CRAM system has been enhanced, to make the application ​of transformation rules on executed plans an easy process. The video above explains three possible transformations in real world pick & place environment. By analyzing the task tree of an executed CRAM plan, improvable patterns are found and altered to generate a better performing plan. +In the scope of his bachelor'​s thesisArthur Niedzwiecki researched ​the topic of plan transformations in CRAM. He implemented new transformation rules for pick and place scenarios and developed a plan transformation pipeline. The video explains three possible transformations ​that are applied to the plans used on our PR2 (and Boxy) robot in the projected as well as real world environments. By analyzing the task tree of an executed CRAM plan, improvable patterns are found and altered to generate a better performing plan. \\ 
 +The code is currently under review and will be merged soon. So keep an eye open for a new ''​cram_plan_transformation''​ package!
  
 {{tag>​Transformation}} {{tag>​Transformation}}