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Robotic control tasks are often first run in simulation for the purposes ofverification, debugging and data augmentation. Many methods exist to specifywhat task a robot must complete, but few exist to specify what range ofenvironments a user expects such tasks to be achieved in. ProbRobScene is aprobabilistic specification language for describing robotic manipulationenvironments. Using the language, a user need only specify the relationalconstraints that must hold between objects in a scene. ProbRobScene will thenautomatically generate scenes which conform to this specification. By combiningaspects of probabilistic programming languages and convex geometry, we providea method for sampling this space of possible environments efficiently. Wedemonstrate the usefulness of our language by using it to debug a roboticcontroller in a tabletop robot manipulation environment.

ProbRobScene: A Probabilistic Specification Language for 3D Robotic Manipulation Environments