Task and Contact Optimization for Robot Manipulation

Image Credit: Eric Heiden
  • Coordinated high-level symbolic planning with low-level motion planner to complex contact planning problems.
  • Formulated symbolic planning graph and STRIPS reasoning problems as a smooth optimization problem to be solved by gradient-based optimizaters.
  • Integrated Contact-Invariant Optimization that considered contacts as continuous variables and extended CIO to optimizing contacts with multiple objects.
  • Incorporated reverse-mode AD with ReverseDiff.jl to speed up gradient computation 2 and SNOPT7.jl as non-linear opNmizer.
  • Setup URDFs and geometry prototypes for testing.
Ziang Liu
Ziang Liu
Graduate Student