Kiarahmani / roboSpec

Effective Synthesis of Robotics Programs from Demonstrations and Safety/Reachability Specifications

RoboSpec

Effective Synthesis of Robotics Programs from Demonstrations and Safety/Reachability Specifications

Setup:

• 0. Go the root directory: cd roboSpec
• 1. Run git submodule update --init --recursive
• 2. cd pips
• 3. git checkout base
• 3. Run make

Run Experiments:

• 1. Go the root directory: cd roboSpec
• 2. Run ./scripts/init.sh
• 3. Run ./scripts/simul_gt.sh to generate the initial samples from the ground truth policy.
• 4. Run ./scripts/run_pips.sh to run pips on the generated samples and write (Pythonic version of) the learned policy in learned_policy.py file.
• 5. Run python robo_spec.py ldips. The behaviors of this policy will be plotted in plots/policy_ldips/distance.png.
• 6. Append the repaired samples from the above simulation to the sample file python scripts/append_repaired_samples.py

• Repeat from step 4 to learn a new policy using the repaired samples.