Robothor Scene about cos-pomdp HOT 7 CLOSED

Thanks for the question! I am glad you are trying this with RoboThor. I didn't consider running RoboThor scenes with this system - the walls were definitely one concern. But I think with some adjustment with the sensor model, the system (especially the object search planning algorithm) can still be applied. Specifically, you need to develop a sensor model that can take into account occlusion by the walls. To help with this, thortils <https://github.com/zkytony/thortils/blob/v3.3.4/thortils/grid_map.py> has a function called blocked <https://github.com/zkytony/thortils/blob/v3.3.4/thortils/grid_map.py#L245> that returns whether two locations on the map are blocked by an obstacle. You can look at sensors.py <https://github.com/zkytony/cos-pomdp/blob/master/cospomdp/models/sensors.py#L75> for implementation of the fan-shape sensor. You may want to modify the in_range function to consider obstacles. In an early phase of this project, I implemented a grid map with walls and a sensor model that take that into account, where the agent doesn't begin with the environment map and needs to explore the environment while searching for the target object. In this example, the agent tries to search for a SaltShaker by first searching for the Kitchen and use spatial correlation to reduce uncertainty about the SaltShaker's location. [image: img] <https://camo.githubusercontent.com/b49e053ef3f7058d823ec4dbb3e71e5d20958a46693fc94a7a70f0c6e97bce5f/68747470733a2f2f692e696d6775722e636f6d2f494575684a516a2e676966> The grid map representation here is a little different (the walls are edges, instead of obstacles). I am pasting the within_range function used in the sensor model there (same purpose as "in_range"). This may help. (This is definitely not the only, or the most efficient way to consider occlusion by fan-shaped sensor models, so you may totally come up with your own way!) def within_range(self, robot_pose, point, grid_map=None, cache=None, walls_to_consider=None, return_intersecting_wall=False): """Returns true if the point is within range of the sensor (i.e. visible). To do this need to check if any wall is closer to the robot along the direction of the beam from robot to the `point`.x Args: robot_pose (tuple): (x,y,theta) pose of the robot point (tuple): (x,y) point to determine if in range grid_map (GridMap): The grid map whose walls can cause occlusions cache (SensorCache): The cache that helps computing this faster return_intersecting_wall (bool): True if want to return the wall that is intersecting the sensor beam. NOTE: This parameter affects what the cache stores. If True, then the cache will also store the intersecting wall for this (robot_pose, point) pair.""" if cache is not None and grid_map is not None: if not cache.serving(grid_map): raise ValueError("Cache is already used to serve for map %s" % cache.map_serving) if cache is not None: assert cache.sensor_name == self.name result = cache.get(robot_pose, point) if result is not None: detectable, intersecting_wall = result if return_intersecting_wall: return detectable, intersecting_wall else: return detectable detectable = True intersecting_wall = None if robot_pose[:2] != point: point_dist, point_bearing = self.shoot_beam(robot_pose, point) point_in_range = (in_range(point_dist, (self.min_range, self.max_range)))\ and (in_range(point_bearing, self._fov_left)\ or in_range(point_bearing, self._fov_right)) if not point_in_range: detectable = False else: if walls_to_consider is None: if grid_map is not None: walls_to_consider = grid_map.walls else: print("Warning: within_range is not using wall intersection") walls_to_consider = set() # Check walls for objid in walls_to_consider: wall = walls_to_consider[objid] if wall.intersect(robot_pose[:2], point): detectable = False intersecting_wall = (objid, wall) break if cache is not None: assert cache.sensor_name == self.name cache.put(robot_pose, point, detectable, intersecting_wall) if return_intersecting_wall: return detectable, intersecting_wall else: return detectable In this case, the intersection is handled by "wall.intersect", which just checks if the line segment intersects with the edge that represents the wall. I think you can achieve something of similar effect with the blocked function in the current grid_map (IMO better because it's an occupancy grid map that is more versatile). I am happy to share the code for this early phase if necessary. Please reach out to me by email. Thanks! — Reply to this email directly, view it on GitHub <#5 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ANZWVIY72TXKDEY4GFTZRKDVULMFJANCNFSM53XW3NDA> . You are receiving this because you authored the thread.Message ID: ***@***.***>

On Sun, Jul 17, 2022 at 11:51 PM Kaiyu Zheng ***@***.***> wrote: I wonder if it is possible to remove all objects from a scene, and then run the mapping algorithm in thortils, which gives you obstacles that are just walls. This could be one way to label the walls as well. Essentially you'd like to have a layout map with just walls. — Reply to this email directly, view it on GitHub <#5 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ANZWVIYV3FABDZSQ6LR3KNLVUQMYLANCNFSM53XW3NDA> . You are receiving this because you modified the open/close state.Message ID: ***@***.***>

Thanks! I will try as you recommended, And get back to you Thank you so much for your help! Best Regards Jeongeun On Sun, Jul 17, 2022 at 11:51 PM Kaiyu Zheng ***@***.***> wrote: > I wonder if it is possible to remove all objects from a scene, and then > run the mapping algorithm in thortils, which gives you obstacles that are > just walls. This could be one way to label the walls as well. Essentially > you'd like to have a layout map with just walls. > > — > Reply to this email directly, view it on GitHub > <#5 (comment)>, > or unsubscribe > <https://github.com/notifications/unsubscribe-auth/ANZWVIYV3FABDZSQ6LR3KNLVUQMYLANCNFSM53XW3NDA> > . > You are receiving this because you modified the open/close state.Message > ID: ***@***.***> >