{"type":"ScholarlyArticle","title":"Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning - Extended Abtract","authors":[{"name":"Marc Toussaint","slug":"marc-toussaint","given":"Marc","family":"Toussaint","affiliation":"Machine Learning & Robotics Lab , University of Stuttgart , Germany; Max Planck Institute for Intelligent Systems , Stuttgart , Germany"},{"name":"Kelsey R. Allen","slug":"kelsey-r-allen","given":"Kelsey R.","family":"Allen","affiliation":"Massachusetts Institute of Technology , Cambridge , MA 02139"},{"name":"Kevin A. Smith","slug":"kevin-a-smith","given":"Kevin A.","family":"Smith","affiliation":"Massachusetts Institute of Technology , Cambridge , MA 02139"},{"name":"Joshua B. Tenenbaum","slug":"joshua-b-tenenbaum","given":"Joshua B.","family":"Tenenbaum","affiliation":"Massachusetts Institute of Technology , Cambridge , MA 02139"}],"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.","doi":"10.24963/ijcai.2019/869","url":"https://ijcai.org/proceedings/2019/869","pdf":"https://ijcai.org/proceedings/2019/0869.pdf","markdown":"https://ijcai.org/proceedings/2019/869.md","bibtex":"https://ijcai.org/proceedings/2019/bibtex/869","volume":{"slug":"2019","title":"Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2019","url":"https://ijcai.org/proceedings/2019/","year":2019,"location":"Macao","dates":"10-16 August 2019","editors":"Sarit Kraus","isbn":"978-0-9992411-4-1","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2019"},"section":"Best Sister Conferences","track":"Best Sister Conferences","number":869,"pages":{"first":6231,"last":6235},"keywords":["Robotics: Motion and Path Planning","Robotics: Manipulation","Planning and Scheduling: Robot Planning"],"videos":[],"references":[{"position":1,"raw":"[Battaglia et al., 2013] Peter Battaglia, Jessica Hamrick, and Joshua B Tenenbaum. 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