Expired
Milestone
Nov 30, 2020–Jan 15, 2021
Dec-MCTS scheduling
Milestone ID: 175
Schedule contours using Dec-MCTS approach into Plan.
All issues for this milestone are closed. You may close this milestone now.
Unstarted Issues (open and unassigned)
0
Ongoing Issues (open and assigned)
0
Completed Issues (closed)
18
- Improve Dec-MCTS scheduler logic
- Add random and weighted random rollout options (needed for Dec-MCTS optimality guarantee)
- Run on bulk stl files for testing
- Dec-MCTS full print
- CominedScheduler should only add plans to one arm if thats the most efficient
- Improve Dec-MCTS to real plan logic
- Restrict Dec-MCTS to one Traj per contour
- Add buffer time for joint scheduler
- Dec-MCTS to real plan
- Dec-MCTS for 3 arms
- Check what collision regions between pairs of trajectories look like
- Experimentally get relationship between joint angle difference and length of successful trajectory from greedy real life data
- Swept volume collision check in pybullet
- Combined schedule
- build Dec-MCTS tree inputs
- Capsule collision checking
- Design Dec-MCTS reward function
- JointScheduler bugs
