https://github.com/kumarrobotics/spine
Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments
https://github.com/kumarrobotics/spine
Last synced: 11 months ago
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Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments
- Host: GitHub
- URL: https://github.com/kumarrobotics/spine
- Owner: KumarRobotics
- Created: 2024-09-27T21:14:14.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-06-10T19:37:12.000Z (about 1 year ago)
- Last Synced: 2025-06-17T23:09:47.969Z (12 months ago)
- Language: Python
- Homepage: https://zacravichandran.github.io/SPINE/
- Size: 384 KB
- Stars: 12
- Watchers: 7
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# SPINE
The is the repository for [SPINE: Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments](https://arxiv.org/abs/2410.03035).
TLDR: SPINE is an LLM-enabled planner designed for missions with incomplete specifications in unstructured environments.
This repository contains the
* the core SPINE framework
* a ROS wrapper for the clearpath jackal
# Installation
We provide support for deployment on the Clearpath Jackal via the provided Docker image in [jackal-infrastructure](https://github.com/KumarRobotics/jackal-infrastructure).
# Example
We provide an offline example in [`./scripts/test_exploration.py`](./scripts/test_exploration.py)
```
python scripts/test_spine.py --help
usage: test_spine.py [-h] [--task TASK] [--graph GRAPH] [--init-node INIT_NODE]
options:
-h, --help show this help message and exit
--task TASK
--graph GRAPH
--init-node INIT_NODE
```
# Running on the clearpath Jacakl
We provide a launch file compatible with our (Clearpath Jacal autonomy stack](https://github.com/KumarRobotics/dcist_master).
```
roslaunch planner.launch
```
## node info
```
Node [/spine_node]
Publications:
* /spine_node/filtered_costmap [nav_msgs/OccupancyGrid]
* /spine_node/graph [std_msgs/String]
* /spine_node/graph_viz [visualization_msgs/Marker]
* /task_labels [std_msgs/String]
Subscriptions:
* /move_base/local_costmap/costmap # costmap for building semantic graph
* /tracker_node/tracks # tracks for semantic graph
Services:
* /spine_node/interrupt # stop a mission
* /spine_node/mission # specify a mission
```
```
@article{ravichandran_spine,
title={SPINE: Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments},
author={Zachary Ravichandran and Varun Murali and Mariliza Tzes and George J. Pappas and Vijay Kumar},
year={2025},
journal={International Conference on Robotics and Automation (ICRA)},
url={https://arxiv.org/abs/2410.03035},
}
```