TAMPURA

Partially Observable Task and motion planning with uncertainty and risk awareness. See our paper or website for more details.

Install

Install the symbolic planner

    cd third_party/symk
    python build.py

Install the tampura package

    conda create -n tampura_env python=3.11
    conda activate tampura_env
    python -m pip install -e .
    conda install pygraphviz

Example Notebook

See notebooks/grasping_env.ipynb for a simple usage example.

Robot environments

The robot environments from the paper are in a separate tampura_environments repo