SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization
For robotic tasks with uncertain contact interactions, SURE provides a practical method to enhance robustness and adaptability.
SURE is a robust trajectory optimization framework that handles contact timing uncertainty by branching trajectories from possible pre-impact states. It improves success rates by 21.6% in cart-pole balancing and 40% in egg-catching tasks.
Robotic tasks involving contact interactions pose significant challenges for trajectory optimization due to discontinuous dynamics. Conventional formulations typically assume deterministic contact events, which limit robustness and adaptability in real-world settings. In this work, we propose SURE, a robust trajectory optimization framework that explicitly accounts for contact timing uncertainty. By allowing multiple trajectories to branch from possible pre-impact states and later rejoin a shared trajectory, SURE achieves both robustness and computational efficiency within a unified optimization framework. We evaluate SURE on two representative tasks with unknown impact times. In a cart-pole balancing task involving uncertain wall location, SURE achieves an average improvement of 21.6% in success rate when branch switching is enabled during control. In an egg-catching experiment using a robotic manipulator, SURE improves the success rate by 40%. These results demonstrate that SURE substantially enhances robustness compared to conventional nominal formulations.