progress for iros submission

benchmark/config/algs/dbrrt_v0.yaml

@@ -95,20 +95,24 @@ acrobot_v0:
 
 quad3d_v0:
   default:
-    max_expands: 200000
+    max_expands: 900000
     # motionsFile: ../dynomotions_full/quad3d_v0_all3.bin.im.bin.sp1.bin.ca.bin.msgpack
     motionsFile: ../dynomotions/quad3d_v0_all3.bin.im.bin.sp1.bin.ca.bin.small5000.msgpack
     soft_control_bounds: true
-    delta: .7
+    # delta: .4
+    # goal_region: .7
+
+    delta: .35
     goal_region: .7
     # goal_region: .65
     # max_motions: 5000
-    max_motions: 2000
-    max_iter: 80
+    max_motions: 5000
+    max_iter: 100 
     # solver_id: 0
     weight_goal: 100
     use_collision_shape: false
-    use_mim_solvers: true
+    solver_id: 0
+    # use_mim_solvers: true
 
   # recovery_with_obs:
   #   # solver_id: 0 # TODO: check with solver=1
@@ -123,9 +127,9 @@ quad3d_omplapp:
   # I need something more intelligent? (e.g. no reduce delta if I exit with empty queue!!!)
   default:
     max_expands: 200000
-    motionsFile: ../dynomotions_full/quad3dompl_all.bin.im.bin.sp1.bin.ca.bin.msgpack
+    motionsFile: ../dynomotions/quad3dompl_all.bin.im.bin.sp1.bin.ca.bin.small5000.msgpack
     soft_control_bounds: true
-    delta: .8
+    delta: .4
     goal_region: .7
     max_motions: 6000
     max_iter: 100

benchmark/config/algs/idbastar_iros.yaml

@@ -19,9 +19,18 @@ car1_v0:
 quad2d_v0:
   default:
     motionsFile: ../dynomotions/quad2d_v0_all_im.bin.sp.bin.ca.bin.small5000.msgpack
+
 quad3d_v0:
   default:
     motionsFile: ../dynomotions/quad3d_v0_all3.bin.im.bin.sp1.bin.ca.bin.small5000.msgpack
+
+quad3d_omplapp:
+  default:
+    motionsFile: ../dynomotions/quad3dompl_all.bin.im.bin.sp1.bin.ca.bin.small5000.msgpack
+    delta_0: 0.65
+    num_primitives_0: 1000
+
+
 quad2dpole_v0:
   default:
     motionsFile: ../dynomotions/quad2dpole_all.bin.im.bin.sp1.bin.ca.bin.small5000.msgpack

benchmark/config/compare.yaml

@@ -1,6 +1,11 @@
-trials:  5
+trials:  8
 timelimit: 60
-n_cores: 3 # -1=auto
+n_cores: 8 # -1=auto
+
+
+
+
+
 
 problems:
   # # # # # #
@@ -50,7 +55,7 @@ problems:
   # - quad2dpole_v0/window_hard2
   # # # # # # # # #
   # - acrobot_v0/swing_up_empty
-  - acrobot_v0/swing_up_obs
+  # - acrobot_v0/swing_up_obs
   # - acrobot_v0/swing_up_obs_hard
   # - acrobot_v0/swing_down_easy
   # - acrobot_v0/swing_down
@@ -61,30 +66,37 @@ problems:
   # - quadrotor_v0/recovery
   # - quadrotor_v0/recovery_with_obs
   # - quadrotor_v0/recovery_with_obs2
+  # - quadrotor_v0/recovery_with_obs3
+  # - quadrotor_v0/recovery_with_obs4
   # - quadrotor_v0/quad_one_obs
   # - quadrotor_v0/window_double
   # - quadrotor_v0/bugtrap
   # - quadrotor_v0/bugtrap2
   # - quadrotor_v0/bugtrap3
+  # - quadrotor_v0/narrow_recovery # NOT working
   # # # # # # # # # #
   # - quadrotor_v1/empty_0_easy
   # - quadrotor_v1/empty_1_easy
   # - quadrotor_v1/window
   # - quadrotor_v1/recovery
   # - quadrotor_v1/quad_one_obs
   # - quadrotor_v1/recovery_with_obs
+  # - quadrotor_v1/recovery_with_obs4
+  # - quadrotor_v1/window_double
+  - quadrotor_v1/window_double2
+  # - quadrotor_v1/bugtrap3
 
 algs:
 
   # Idbastar
   # - idbastar_v0
-  # - idbastar_iros
-  # - geo_v0
-  # - sst_v0
-  # - dbrrt_v0
-  # - dbrrt_v0DEV
+  - idbastar_iros
+  # # - geo_v0
+  # # - sst_v0
+  - dbrrt_v0
+  # # - dbrrt_v0DEV
   - dbrrt_v1
-  # - dbrrt_v2
+  - dbrrt_v2
   # - dbaorrt_v0
   # - dbaorrt_v1
 

benchmark/config/compare_selected_idbastar.yaml

@@ -0,0 +1,30 @@
+trials:  5
+timelimit: 60
+n_cores: 8 # -1=auto
+
+
+problems:
+  - acrobot/swing_up_empty
+  - acrobot/swing_up_obs_hard
+  - car_first_order_with_1_trailers_0/kink_0
+  - car_first_order_with_1_trailers_0/parallelpark_0
+  - quad2d/fall_through
+  - quad2d/quad_bugtrap
+  - quad2dpole/up_obs
+  - quad2dpole/window_hard
+  - quadrotor_0/recovery
+  - quadrotor_0/recovery_with_obs
+  - quadrotor_ompl/quad_one_obs
+  - quadrotor_ompl/window
+  - unicycle_first_order_0/bugtrap_0
+  - unicycle_first_order_2/wall_0
+  - unicycle_second_order_0/bugtrap_0
+  - unicycle_second_order_0/parallelpark_0
+
+algs:
+  - idbastar_iros
+  - dbrrt_v0
+  - dbrrt_v1
+  - dbrrt_v2
+
+