Christopher Lin

EECS Department, University of California, Berkeley

Technical Report No. UCB/EECS-2016-218

December 16, 2016

http://www2.eecs.berkeley.edu/Pubs/TechRpts/2016/EECS-2016-218.pdf

We consider the problem of refining an abstract task plan into a motion trajectory. Task and motion planning is a hard problem that is essential to long-horizon mobile manipulation. Many approaches divide the problem into two steps: a search for a task plan and task plan refinement to find a feasible trajectory. We apply sequential quadratic programming to jointly optimize over the parameters in a task plan (e.g., trajectories, grasps, put down locations). We provide two modifications that make our formulation more suitable to task and motion planning. We show how to use movement primitives to reuse previous solutions (and so save optimization effort) without trapping the algorithm in a poor basin of attraction. We also derive an early convergence criterion that lets us quickly detect unsatisfiable constraints so we can re-initialize their variables. We present experiments in a navigation amongst movable objects domain and show substantial improvement in cost over a backtracking refinement algorithm.

Advisors: Pieter Abbeel

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BibTeX citation:

@mastersthesis{Lin:EECS-2016-218,
    Author= {Lin, Christopher},
    Title= {Sequential Quadratic Programming for Task Plan Optimization},
    School= {EECS Department, University of California, Berkeley},
    Year= {2016},
    Month= {Dec},
    Url= {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2016/EECS-2016-218.html},
    Number= {UCB/EECS-2016-218},
    Abstract= {We consider the problem of refining an abstract task plan into a motion trajectory. Task and motion planning is a hard problem that is essential to long-horizon mobile manipulation. Many approaches divide the problem into two steps: a search for a task plan and task plan refinement to find a feasible trajectory. We apply sequential quadratic programming to jointly optimize over the parameters in a task plan (e.g., trajectories, grasps, put down locations). We provide two modifications that make our formulation more suitable to task and motion planning. We show how to use movement primitives to reuse previous solutions (and so save optimization effort) without trapping the algorithm in a poor basin of attraction. We also derive an early convergence criterion that lets us quickly detect unsatisfiable constraints so we can re-initialize their variables. We present experiments in a navigation amongst movable objects domain and show substantial improvement in cost over a backtracking refinement algorithm.},
}

EndNote citation:

%0 Thesis
%A Lin, Christopher 
%T Sequential Quadratic Programming for Task Plan Optimization
%I EECS Department, University of California, Berkeley
%D 2016
%8 December 16
%@ UCB/EECS-2016-218
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2016/EECS-2016-218.html
%F Lin:EECS-2016-218