Motion (physics)

Quantum mechanics

Robot

Engineering

Pure mathematics

Materials science

Motion planning

Variety (cybernetics)

Systems engineering

Computer science

Classical mechanics

Physics

Throwing

Nanotechnology

Impulse (physics)

Task (project management)

Mathematics

Differentiable function

Mathematical analysis

Artificial intelligence

Dynamical systems theory

Kinematics

Physical system

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.

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