Videos

Videos of the robot executing plans in the real world and with illustrative examples can be found in this folder.

If you would like to have subtitles, you can manually add the ones transcribed using your video player. We recommend VLC and instructions for adding subtitles can be found here (You will want to add a subtitle track then select it)

1. A video showing the robot executing plans with and without our method is shown in model_preconditions_robot_video.mp4 Subtitles for this video are in model_preconditions_robot_video_subtitles.srt
2. An animated example shows how to plan with MDEs using only one queue for planning in single_queue_planner_example.mp4. Subtitles are in single_queue_planner_example_subtitles.srt
3. Another animated example illustrates the method in Section 4.3 using multiple queues to avoid using slower models. Subtitles are in multiple_queue_planner_example_subtitles.srt

Appendix

An appendix with more experiment details and planner pseudocode is in learning_model_preconditions_2021_appendix.pdf.

Code

Code and data can be found in a public GitHub repo at this link