Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning
Joaquim Ortiz-Haro,Jung-Su Ha,Danny Driess,Erez Karpas,Marc Toussaint,Joaquim Ortiz-Haro,Jung-Su Ha,Danny Driess,Erez Karpas,Marc Toussaint
A factored Nonlinear Program (Factored-NLP) explicitly models the dependencies between a set of continuous variables and nonlinear constraints, providing an expressive formulation for relevant robotics problems such as manipulation planning or simultaneous localization and mapping. When the problem is over-constrained or infeasible, a fundamental issue is to detect a minimal subset of variables an...
