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

Marc Toussaint, Kelsey R. Allen, Kevin A. Smith, Joshua B. Tenenbaum

Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence

Best Sister Conferences. Pages 6231-6235.

https://doi.org/10.24963/ijcai.2019/869

Abstract

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

Keywords

Robotics: Manipulation
Planning and Scheduling: Robot Planning
Robotics: Motion and Path Planning