nakulgopalan / amdp

amdp

Repo for AMDP research.

The master branch is the latest DAG hierarchy code on BURLAP 3.0. The older functioning AMDP code is on BURLAP 2.0 on the branch `amdpBurlap2.

Each goal description has multiple subgoals. These subgoals are achieved as a subtask with an AMDP associated with them. This leads to a DAG formation of subtasks. Each AMDP is coded as a BURLAP domain. When the AMDP is used as a subtask a child parent hierarchy is described for them in the AMDP runner file. Example AMDP runner files are amdp.cleanupamdpdomains.cleanupamdp.CleanupDriver and amdp.taxiamdpdomains.taxiamdp.TaxiAMDPDriver. There is corresponding MAXQ hierarchies for these domains within the codebase.