Multi-constrained robot motion generation

Published: 29 Oct 2024, Last Modified: 03 Nov 2024CoRL 2024 Workshop MRM-D PosterEveryoneRevisionsBibTeXCC BY 4.0
Keywords: multi-constrained motion generation, diffusion model, safe offline RL
TL;DR: We proposed a robot motion generation method that simultaneously considers multiple constraints.
Abstract: In this paper, we propose a novel robot motion generation method that simultaneously considers multiple constraints. Robots must meet several constraints simultaneously to operate safely in the real world. For example, when carrying a glass of water, the robot needs to adjust its speed to avoid spills and obstacles. However, current generative model-based methods typically only account for one constraint, and tasks with multiple constraints remain challenging. To address this, we proposed Multi-Constrained-TREBI, which uses weighted cost functions to represent the importance of each constraint. Through a simulation of a walking robot, we show that utilizing our proposed method can generate trajectories that satisfy multiple constraints.
Submission Number: 31
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