Robotics: Science and Systems XIV

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

Marc Toussaint, Kelsey Allen, Kevin Smith, Joshua Tenenbaum


We consider the problem of sequential manipulation and tool-use planning in domains that include physical interactions such as hitting and throwing. The approach integrates a Task And Motion Planning formulation with primitives that either impose stable kinematic constraints or differentiable dynamical and impulse exchange constraints at the path optimization level. We demonstrate our approach on a variety of physical puzzles that involve tool use and dynamic interactions. We then compare manipulation sequences generated by our approach to human actions on analogous tasks, suggesting future directions and illuminating current limitations.



    AUTHOR    = {Marc Toussaint AND Kelsey Allen AND Kevin Smith AND Joshua Tenenbaum}, 
    TITLE     = {Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2018}, 
    ADDRESS   = {Pittsburgh, Pennsylvania}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2018.XIV.044}