Task and Motion Plans for Interactive Robotic Tasks
Task and Motion Plans for Interactive Robotic Tasks
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This is an ongoing project with Dr. Matni and Dr. Figueroa. We learn a dynamical systems based nominal motion plan parameterized by Neural ODEs using 2/3 demonstrations of a task from kinesthetic teaching. We enforce stability and safety by solving a quadratic program online at task execution using control theoretic tools. We integrate a high-level temporal logic based planning framework for reactive and interactive tasks. We demonstrate our approach on the Franka Emika robot arm for nonlinear periodic tasks such as wiping and stirring.
This is an ongoing project with Dr. Matni and Dr. Figueroa. We learn a dynamical systems based nominal motion plan parameterized by Neural ODEs using 2/3 demonstrations of a task from kinesthetic teaching. We enforce stability and safety by solving a quadratic program online at task execution using control theoretic tools. We integrate a high-level temporal logic based planning framework for reactive and interactive tasks. We demonstrate our approach on the Franka Emika robot arm for nonlinear periodic tasks such as wiping and stirring.
Nawaz, F., Li, T., Matni, N., & Figueroa, N. (2023). "Learning complex motion plans using Neural ODEs with safety and stability guarantees". accepted to ICRA 2024. Project webpage
Nawaz, F., Peng, S., Lindemann, L., Figueroa, N., & Matni, N. (2024). "Reactive Temporal Logic-based Planning and Control for Interactive Robotic Tasks". accepted to IROS 2024. Project webpage
Kinesthetic teaching
Kinesthetic teaching
Wiping a human mannequin
Wiping a human mannequin
Wiping a white board
Wiping a white board
Nominal task execution
Nominal task execution
Reactive obstacle avoidance (safety)
Reactive obstacle avoidance (safety)
Disturbance rejection (stability)
Disturbance rejection (stability)
Stirring task
Stirring task
Kinesthetic teaching
Kinesthetic teaching
Task execution
Task execution
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