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Upgrade IrisInConfigurationSpace to IRIS-NP2 #21822

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RussTedrake opened this issue Aug 20, 2024 · 7 comments · May be fixed by #23001
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Upgrade IrisInConfigurationSpace to IRIS-NP2 #21822

RussTedrake opened this issue Aug 20, 2024 · 7 comments · May be fixed by #23001
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@RussTedrake @cohnt @rhjiang
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component: planning and control Optimization-based planning and control, and search- and sampling-based planning priority: medium type: feature request

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@RussTedrake
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In our latest paper submission, @cohnt , @rhjiang , and @wernerpe made major improvements to IRIS-NP (the algorithm currently implemented in IrisInConfigurationSpace). Regions can be computed order(s) of magnitude faster, they tend to be bigger, and tend to have less faces!

We should upgrade our Drake implementation to this latest version of the algorithm.

One question is whether we should make the new code use the CollisionChecker interface (#18830). My understanding is that there was one remaining sticking point, which was discussed in this slack thread.
@RussTedrake RussTedrake added type: feature request priority: medium component: planning and control Optimization-based planning and control, and search- and sampling-based planning labels Aug 20, 2024
@RussTedrake RussTedrake mentioned this issue Aug 20, 2024
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@cohnt
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cohnt commented Aug 20, 2024

Two quetsions from me...

  • Re CollisionChecker, does that provide sufficient information to solve the counterexample programs? Or would that be given in addition to the plant?
  • Do we want to replace IRIS-NP altogether, or does it make sense to keep the old version in for backwards-compatibility (and for replicating previous results)?

@RussTedrake
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  • The goal would be to use CollisionChecker directly, instead of using MultibodyPlant. It is more general.
  • I think we should replace IRIS-NP altogether. Git remembers.

@cohnt
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cohnt commented Aug 21, 2024

Extending IRIS-NP to support CollisionChecker seems somewhat orthogonal to upgrading to IRIS-NP2. A lot of the features that CollisionChecker supports need to be taken into account by the counterexample search programs. Negative padding seems particularly complicated to implement. Maybe we can keep these as separate TODOs?

@RussTedrake
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My understanding is that @rhjiang already has a version that works, except not for the blocker discussed in the slack thread I linked above. If that's not the case, then i agree we can/should separate them.

@rhjiang
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rhjiang commented Aug 21, 2024

The version I have uses CollisionChecker only for querying points in collision. Not sure I fully understand Tommy's comment, but, the version I have formulates the closest collision program the same way IRIS-NP did, not involving the CollisionChecker.

@RussTedrake
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In that case, I'm ok deferring #18830. But I guess you construct the SceneGraphCollisionChecker inside the iris call? (the user doesn't have to pass it in?)

@RussTedrake
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Plan is to not upgrade in place, but to make a new entry point (behind the new common interface from #21821).

@RussTedrake RussTedrake mentioned this issue Aug 22, 2024
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@hongkai-dai hongkai-dai mentioned this issue Aug 22, 2024
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@cohnt cohnt mentioned this issue Oct 16, 2024
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@RussTedrake RussTedrake moved this from TODO (IRIS and Convex Sets) to In Progress in Graphs of Convex Sets Oct 23, 2024
@cohnt cohnt mentioned this issue Feb 3, 2025
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@cohnt cohnt mentioned this issue Apr 29, 2025
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This was referenced May 6, 2025
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component: planning and control Optimization-based planning and control, and search- and sampling-based planning priority: medium type: feature request
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Graphs of Convex Sets
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Implement IRIS-NP2 cohnt/drake
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@RussTedrake @cohnt @rhjiang