Spectral Decomposition of Inverse Dynamics for Fast Exploration in Model-Based Manipulation
Enables real-time long-horizon planning for robotic manipulation with complex contact dynamics, a previously unsolved problem.
They propose a search tree method using spectral decomposition of inverse dynamics for long-horizon robotic manipulation planning, achieving 45-second plans with 10+ contact modes in 15 seconds of computation, outperforming existing methods that fail on such tasks.
Planning long duration robotic manipulation sequences is challenging because of the complexity of exploring feasible trajectories through nonlinear contact dynamics and many contact modes. Moreover, this complexity grows with the problem's horizon length. We propose a search tree method that generates trajectories using the spectral decomposition of the inverse dynamics equation. This equation maps actuator displacement to object displacement, and its spectrum is efficient for exploration because its components are orthogonal and they approximate the reachable set of the object while remaining dynamically feasible. These trajectories can be combined with any search based method, such as Rapidly-Exploring Random Trees (RRT), for long-horizon planning. Our method performs similarly to recent work in model-based planning for short-horizon tasks, and differentiates itself with its ability to solve long-horizon tasks: whereas existing methods fail, ours can generate 45 second duration, 10+ contact mode plans using 15 seconds of computation, demonstrating real-time capability in highly complex domains.