KEA (Keen Execution Assistant): A Hybrid Planning System based on PlanSys2 with Self-Supervised Oversight
The KEA Planner is a modular hybrid planning system designed for autonomous tasks in simulation and real-world environments.
Built on top of ROS 2 and integrated with Plansys2, it combines classical PDDL-based planning with intelligent oversight from language and vision models.
KEA supports flexible task definition, real-time plan monitoring, and anomaly detection through LLM/VLM agents, enabling robust decision-making in dynamic, unstructured terrain.
Documentation with detailed installation instructions, usage guides, and development resources is available online.
This project is licensed under Apache 2.0 License
KEA Planner is developed by ETH Zurich - Robotic Systems Lab.