Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning

We propose to formulate physical reasoning and manipulation planning as an optimization problem that integrates first order logic, which we call Logic-Geometric Programming.

[1]  O. Bagasra,et al.  Proceedings of the National Academy of Sciences , 1914, Science.

[2]  A. Fiacco,et al.  Sensitivity analysis in nonlinear programming under second order assumptions , 1985 .

[3]  Matthew T. Mason,et al.  The mechanics of manipulation , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[4]  Jane Wilhelms,et al.  Collision Detection and Response for Computer Animation , 1988, SIGGRAPH.

[5]  Michael I. Jordan,et al.  Advances in Neural Information Processing Systems 30 , 1995 .

[6]  Adam B. Levy,et al.  Sensitivity of Solutions in Nonlinear Programming Problems with Nonunique Multipliers , 1995 .

[7]  Kevin M. Lynch,et al.  Stable Pushing: Mechanics, Controllability, and Planning , 1995, Int. J. Robotics Res..

[8]  G. Caldwell,et al.  From cognition to biomechanics and back: the end-state comfort effect and the middle-is-faster effect. , 1996, Acta psychologica.

[9]  Thierry Siméon,et al.  Manipulation Planning with Probabilistic Roadmaps , 2004, Int. J. Robotics Res..

[10]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[11]  Stuart J. Russell,et al.  Angelic Semantics for High-Level Actions , 2007, ICAPS.

[12]  Juliet.  Humanoid Robots , 2009 .

[13]  A. Kacelnik,et al.  Cognitive Processes Associated with Sequential Tool Use in New Caledonian Crows , 2009, PloS one.

[14]  Christian Laugier,et al.  The International Journal of Robotics Research (IJRR) - Special issue on ``Field and Service Robotics '' , 2009 .

[15]  A. F. Izmailov.  Solution sensitivity for Karush–Kuhn–Tucker systems with non-unique Lagrange multipliers , 2010 .

[16]  Jean-Claude Latombe,et al.  Multi-modal Motion Planning in Non-expansive Spaces , 2010, Int. J. Robotics Res..

[17]  Emanuel Todorov,et al.  A convex, smooth and invertible contact model for trajectory optimization , 2011, 2011 IEEE International Conference on Robotics and Automation.

[18]  Leslie Pack Kaelbling,et al.  Hierarchical task and motion planning in the now , 2011, 2011 IEEE International Conference on Robotics and Automation.

[19]  Alessandro Saffiotti,et al.  Constraint propagation on interval bounds for dealing with geometric backtracking , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Yuval Tassa,et al.  MuJoCo: A physics engine for model-based control , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[21]  Zoran Popovic,et al.  Discovery of complex behaviors through contact-invariant optimization , 2012, ACM Trans. Graph..

[22]  Jessica B. Hamrick,et al.  Simulation as an engine of physical scene understanding , 2013, Proceedings of the National Academy of Sciences.

[23]  Rachid Alami,et al.  Towards Combining HTN Planning and Geometric Task Planning , 2013, ArXiv.

[24]  Robin Deits,et al.  Footstep planning on uneven terrain with mixed-integer convex optimization , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[25]  Leslie Pack Kaelbling,et al.  A constraint-based method for solving sequential manipulation planning problems , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[26]  Pieter Abbeel,et al.  Combined task and motion planning through an extensible planner-independent interface layer , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[27]  Russ Tedrake,et al.  A direct method for trajectory optimization of rigid bodies through contact , 2014, Int. J. Robotics Res..

[28]  Alessandro Saffiotti,et al.  Efficiently combining task and motion planning using geometric constraints , 2014, Int. J. Robotics Res..

[29]  Siddhartha S. Srinivasa,et al.  Extrinsic dexterity: In-hand manipulation with external forces , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[30]  Oliver Brock,et al.  Exploitation of environmental constraints in human and robotic grasping , 2015, Int. J. Robotics Res..

[31]  Marc Toussaint,et al.  Logic-Geometric Programming: An Optimization-Based Approach to Combined Task and Motion Planning , 2015, IJCAI.

[32]  John G. Mikhael,et al.  Functional neuroanatomy of intuitive physical inference , 2016, Proceedings of the National Academy of Sciences.

[33]  Pieter Abbeel,et al.  Value Iteration Networks , 2016, NIPS.

[34]  François Osiurak,et al.  Tool use and affordance: Manipulation-based versus reasoning-based approaches. , 2016, Psychological review.

[35]  Marc Toussaint.  A Tutorial on Newton Methods for Constrained Trajectory Optimization and Relations to SLAM, Gaussian Process Smoothing, Optimal Control, and Probabilistic Inference , 2017, Geometric and Numerical Foundations of Movements.

[36]  Manuel Lopes,et al.  Multi-bound tree search for logic-geometric programming in cooperative manipulation domains , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[37]  Oliver Brock,et al.  Interleaving motion in contact and in free space for planning under uncertainty , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[38]  Leslie Pack Kaelbling,et al.  STRIPStream: Integrating Symbolic Planners and Blackbox Samplers , 2018, ArXiv.