This is the code release for the paper : HiCRISP: A Hierarchical Closed-Loop Robotic Intelligent Self-Correction Planner. It contains code for VisualHome simulation ( edited from Progprompt ) and Real AGV platform.
We test our following system on windows11, python3.9.12.
To obtain detailed instructions on how to download VirtualHome, you may refer to Progprompt.
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run the unity UI of VirualHome, it locates in
\virtualhome\src\virtualhome\simulation\unity_simulator\windows_exec.v2.3.0
in my computer. Also you can change the arguments in the
$run_eval.py$ to open simulator automatically. -
run evaluation. Here is a minimal example how to run the evaluation script. Replace {arguments in curly braces} with appropriate values on your system:
python3 scripts/run_eval.py --expt-name {expt_name}
We have fixed the majority of the parameters, and these parameters do not have a significant impact on validating the effectiveness of our framework. You can easily change them if you think it is important.
Regrettably, the connection to our remote physical platform in the laboratory is currently under development. However, we warmly welcome you to visit our laboratory in person to conduct experiments. We will make the source code open-source as a frame of reference, with the hope that it can assist you in deploying the next stage of work on a new robotic platform.
Note: Due to the limitations of the author's expertise, the code requires you to modify the paths and undertake other necessary adjustments according to your system. The overall portability aspect of the code could be improved, and we welcome any criticism and suggestions from everyone to help with its modification.
Update Pybullet environment experience, code could see in the folder: Pybullet.