Hierarchical POMDP Planner for Hybrid Dynamics. Relevant details can be found in our paper: Efficient Hierarchical Robot Motion Planning Under Uncertainty and Hybrid Dynamics

1. Compile cython package

cd planner/core/cython
python setup.py build_ext --inplace

2. Find solution

cd planner/
python run_main.py

1. Define problem definition

cd planner/core/src/dynamics/ 
gedit belief_evolution.cpp

2. Update parameter values for trajectory optimization

3. Compile cython package

cd planner/core/cython
python setup.py build_ext --inplace

4. Find solution

cd planner/
python run_main.py

TODO

In case of any questions, please feel free to contact at ajinkya@utexas.edu.