Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization

• URL: http://arxiv.org/abs/2409.08678v1
• Date: Fri, 13 Sep 2024 09:46:41 GMT
• Title: Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization
• Authors: Benjamin Alt, Claudius Kienle, Darko Katic, Rainer Jäkel, Michael Beetz,
• Abstract summary: SPI-DP is a novel first-order optimization approach for robot programs. We introduce DGPMP2-ND, a collision-free motion planner for serial N-DoF kinematics. We provide a comprehensive evaluation on two practical household and industrial applications.
• Score: 6.890628942323211
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: This paper presents SPI-DP, a novel first-order optimizer capable of optimizing robot programs with respect to both high-level task objectives and motion-level constraints. To that end, we introduce DGPMP2-ND, a differentiable collision-free motion planner for serial N-DoF kinematics, and integrate it into an iterative, gradient-based optimization approach for generic, parameterized robot program representations. SPI-DP allows first-order optimization of planned trajectories and program parameters with respect to objectives such as cycle time or smoothness subject to e.g. collision constraints, while enabling humans to understand, modify or even certify the optimized programs. We provide a comprehensive evaluation on two practical household and industrial applications.

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