{"id":28761052,"url":"https://github.com/kumarrobotics/spine","last_synced_at":"2025-07-04T11:06:36.300Z","repository":{"id":293722082,"uuid":"864284213","full_name":"KumarRobotics/SPINE","owner":"KumarRobotics","description":"Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments","archived":false,"fork":false,"pushed_at":"2025-06-10T19:37:12.000Z","size":393,"stargazers_count":12,"open_issues_count":1,"forks_count":0,"subscribers_count":7,"default_branch":"main","last_synced_at":"2025-06-17T23:09:47.969Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"https://zacravichandran.github.io/SPINE/","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/KumarRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2024-09-27T21:14:14.000Z","updated_at":"2025-06-17T02:33:48.000Z","dependencies_parsed_at":"2025-05-16T20:34:47.741Z","dependency_job_id":null,"html_url":"https://github.com/KumarRobotics/SPINE","commit_stats":null,"previous_names":["kumarrobotics/spine"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/KumarRobotics/SPINE","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2FSPINE","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2FSPINE/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2FSPINE/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2FSPINE/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/KumarRobotics","download_url":"https://codeload.github.com/KumarRobotics/SPINE/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2FSPINE/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":263499193,"owners_count":23476021,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-06-17T06:39:36.338Z","updated_at":"2025-07-04T11:06:36.271Z","avatar_url":"https://github.com/KumarRobotics.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# SPINE\n\nThe is the repository for [SPINE: Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments](https://arxiv.org/abs/2410.03035).\n\nTLDR: SPINE is an LLM-enabled planner designed for missions with incomplete specifications in unstructured environments.\n\n\nThis repository contains the\n* the core SPINE framework \n* a ROS wrapper for the clearpath jackal\n\n\n![](./docs/spine.png)\n\n\n\n# Installation \n\nWe provide support for deployment on the Clearpath Jackal via the provided Docker image in [jackal-infrastructure](https://github.com/KumarRobotics/jackal-infrastructure).\n\n# Example\n\nWe provide an offline example in [`./scripts/test_exploration.py`](./scripts/test_exploration.py)\n\n```\npython scripts/test_spine.py --help\nusage: test_spine.py [-h] [--task TASK] [--graph GRAPH] [--init-node INIT_NODE]\n\noptions:\n  -h, --help            show this help message and exit\n  --task TASK\n  --graph GRAPH\n  --init-node INIT_NODE\n```\n\n# Running on the clearpath Jacakl\n\nWe provide a launch file compatible with our (Clearpath Jacal autonomy stack](https://github.com/KumarRobotics/dcist_master).\n\n```\nroslaunch planner.launch\n```\n\n\n## node info\n\n```\nNode [/spine_node]\nPublications: \n * /spine_node/filtered_costmap [nav_msgs/OccupancyGrid]\n * /spine_node/graph [std_msgs/String]\n * /spine_node/graph_viz [visualization_msgs/Marker]\n * /task_labels [std_msgs/String]\n\nSubscriptions: \n * /move_base/local_costmap/costmap # costmap for building semantic graph\n * /tracker_node/tracks # tracks for semantic graph\n\nServices: \n * /spine_node/interrupt   # stop a mission\n * /spine_node/mission  # specify a mission\n```\n\n\n\n\n```\n@article{ravichandran_spine,\n  title={SPINE: Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments}, \n  author={Zachary Ravichandran and Varun Murali and Mariliza Tzes and George J. Pappas and Vijay Kumar},\n  year={2025},\n  journal={International Conference on Robotics and Automation (ICRA)},\n  url={https://arxiv.org/abs/2410.03035}, \n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkumarrobotics%2Fspine","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkumarrobotics%2Fspine","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkumarrobotics%2Fspine/lists"}