Trajectory Optimization with Optimization-Based Dynamics

We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level trajectory optimizer. This optimization-based dynamics represe...

Celý popis

Uložené v:

Podrobná bibliografia
Vydané v:	IEEE robotics and automation letters Ročník 7; číslo 3; s. 6750 - 6757
Hlavní autori:	Howell, Taylor A., Le Cleac'h, Simon, Singh, Sumeet, Florence, Pete, Manchester, Zachary, Sindhwani, Vikas
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Piscataway IEEE 01.07.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	Aerodynamics Complex systems Constraints Coulomb friction Dynamics Friction Heuristic algorithms Iterative methods Locomotion motion and path planning Optimization optimization and optimal control Planning Representations Task analysis Trajectory optimization
ISSN:	2377-3766, 2377-3766
On-line prístup:	Získať plný text
Tagy:	Pridať tag Žiadne tagy, Buďte prvý, kto otaguje tento záznam!

Abstract	We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level trajectory optimizer. This optimization-based dynamics representation enables constraint handling, additional variables, and non-smooth behavior to be abstracted away from the upper-level optimizer, and allows classical unconstrained optimizers to synthesize trajectories for more complex systems. We provide a path-following method for efficient evaluation of constrained dynamics and utilize the implicit-function theorem to compute smooth gradients of this representation. We demonstrate the framework by modeling systems from locomotion, aerospace, and manipulation domains including: acrobot with joint limits, cart-pole subject to Coulomb friction, Raibert hopper, rocket landing with thrust limits, and planar-push task with optimization-based dynamics and then optimize trajectories using iterative LQR.
AbstractList	We present a framework for bi-level trajectory optimization in which a system’s dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level trajectory optimizer. This optimization-based dynamics representation enables constraint handling, additional variables, and non-smooth behavior to be abstracted away from the upper-level optimizer, and allows classical unconstrained optimizers to synthesize trajectories for more complex systems. We provide a path-following method for efficient evaluation of constrained dynamics and utilize the implicit-function theorem to compute smooth gradients of this representation. We demonstrate the framework by modeling systems from locomotion, aerospace, and manipulation domains including: acrobot with joint limits, cart-pole subject to Coulomb friction, Raibert hopper, rocket landing with thrust limits, and planar-push task with optimization-based dynamics and then optimize trajectories using iterative LQR.
Author	Singh, Sumeet Manchester, Zachary Le Cleac'h, Simon Sindhwani, Vikas Florence, Pete Howell, Taylor A.
Author_xml	– sequence: 1 givenname: Taylor A. orcidid: 0000-0001-5144-5702 surname: Howell fullname: Howell, Taylor A. email: thowell@stanford.edu organization: Department of Mechanical Engineering, Stanford University, Stanford, CA, USA – sequence: 2 givenname: Simon orcidid: 0000-0002-7430-8396 surname: Le Cleac'h fullname: Le Cleac'h, Simon email: simonlc@stanford.edu organization: Department of Mechanical Engineering, Stanford University, Stanford, CA, USA – sequence: 3 givenname: Sumeet orcidid: 0000-0003-4510-5853 surname: Singh fullname: Singh, Sumeet email: ssumeet@google.com organization: Robotics at Google, New York City, NY, USA – sequence: 4 givenname: Pete orcidid: 0000-0002-7148-5645 surname: Florence fullname: Florence, Pete email: peteflorence@google.com organization: Robotics at Google, Mountain View, CA, USA – sequence: 5 givenname: Zachary orcidid: 0000-0002-3071-7091 surname: Manchester fullname: Manchester, Zachary email: zacm@cmu.edu organization: The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA – sequence: 6 givenname: Vikas surname: Sindhwani fullname: Sindhwani, Vikas email: sindhwani@google.com organization: Robotics at Google, New York City, NY, USA
BookMark	eNp9kM1Lw0AQxRepYK29C14KnlP3I9nNHmv9hEJBcl8mmwluaZO6u0XqX29qiqgHTzMM7zdv5p2TQdM2SMglo1PGqL5ZvMymnHI-FSzjUssTMuRCqUQoKQc_-jMyDmFFKe1kSuhsSPLCwwptbP1-stxGt3EfEF3bTN5dfP01SW4hYDW52zewcTZckNMa1gHHxzoixcN9MX9KFsvH5_lskViuWUwARFrWlc7SqrSQVkwLWqelLitAxsvuVo7AlEIpVYq5LpkGkKhA1BJtJkbkul-79e3bDkM0q3bnm87RcKk41TrPaKeivcr6NgSPtdl6twG_N4yaQ0KmS8gcEjLHhDpE_kGsi1-PRg9u_R941YMOEb99tGI5y4T4BJ1ZdSM
CODEN	IRALC6
CitedBy_id	crossref_primary_10_1017_S0263574725102063 crossref_primary_10_1109_ACCESS_2023_3344490 crossref_primary_10_1109_LRA_2023_3281290 crossref_primary_10_3390_biomimetics10080542 crossref_primary_10_1109_TRO_2024_3351554 crossref_primary_10_1007_s10013_024_00704_z crossref_primary_10_1016_j_nahs_2023_101460 crossref_primary_10_1109_TRO_2023_3300230 crossref_primary_10_1109_TRO_2023_3324580 crossref_primary_10_1016_j_ast_2024_109768 crossref_primary_10_1177_02783649251344635
Cites_doi	10.1109/ICRA.2014.6907001 10.1109/IROS40897.2019.8967788 10.1007/978-3-030-66723-8_12 10.1177/0278364913506757 10.1109/AMC.2006.1631739 10.2514/1.47202 10.1109/TEVC.2017.2712906 10.1007/s12532-020-00179-2 10.1109/ICRA46639.2022.9811647 10.1016/S0024-3795(98)10032-0 10.1109/IROS45743.2020.9340883 10.1007/s10957-016-0892-3 10.1109/TCST.2009.2017934 10.1109/LRA.2021.3066969 10.1109/LRA.2021.3061341 10.1109/LRA.2022.3146931 10.23919/ACC.2017.7963708 10.1109/TRO.2024.3351554 10.1007/s10107-004-0559-y 10.23919/ECC.2013.6669541 10.21236/ADA225713 10.1109/IROS.2015.7353843 10.1007/978-3-030-28619-4_66 10.2514/6.2008-6615 10.1007/s10957-021-01896-x 10.1109/ICRA40945.2020.9196673 10.2514/1.G001176 10.1109/IROS.2012.6386109 10.1007/978-3-030-95459-8_48 10.1017/CBO9780511804441 10.1007/978-1-4419-6351-2 10.1007/978-3-0348-7539-4_10 10.1007/978-3-030-43089-4_51 10.1007/978-3-642-10960-7_7
ContentType	Journal Article
Copyright	Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022
Copyright_xml	– notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022
DBID	97E RIA RIE AAYXX CITATION 7SC 7SP 8FD JQ2 L7M L~C L~D
DOI	10.1109/LRA.2022.3152696
DatabaseName	IEEE Xplore (IEEE) IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Electronic Library (IEL) CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Technology Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional
DatabaseTitle	CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional
DatabaseTitleList	Technology Research Database
Database_xml	– sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher
DeliveryMethod	fulltext_linktorsrc
Discipline	Engineering
EISSN	2377-3766
EndPage	6757
ExternalDocumentID	10_1109_LRA_2022_3152696 9718153
Genre	orig-research
GrantInformation_xml	– fundername: Google Research
GroupedDBID	0R~ 97E AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFS AGQYO AGSQL AHBIQ AKJIK AKQYR ALMA_UNASSIGNED_HOLDINGS ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ EBS EJD IFIPE IPLJI JAVBF KQ8 M43 M~E O9- OCL RIA RIE AAYXX CITATION 7SC 7SP 8FD JQ2 L7M L~C L~D
ID	FETCH-LOGICAL-c291t-aa34bfd954dbca4d1930f4b9bdae12b6962ea177e6674e89b19aa6e7a3f6ec53
IEDL.DBID	RIE
ISICitedReferencesCount	19
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000804693400011&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	2377-3766
IngestDate	Sun Nov 30 05:21:25 EST 2025 Sat Nov 29 06:03:16 EST 2025 Tue Nov 18 22:23:56 EST 2025 Wed Aug 27 02:24:37 EDT 2025
IsPeerReviewed	true
IsScholarly	true
Issue	3
Language	English
License	https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html https://doi.org/10.15223/policy-029 https://doi.org/10.15223/policy-037
LinkModel	DirectLink
MergedId	FETCHMERGED-LOGICAL-c291t-aa34bfd954dbca4d1930f4b9bdae12b6962ea177e6674e89b19aa6e7a3f6ec53
Notes	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14
ORCID	0000-0001-5144-5702 0000-0002-3071-7091 0000-0002-7430-8396 0000-0003-4510-5853 0000-0002-7148-5645
PQID	2672099850
PQPubID	4437225
PageCount	8
ParticipantIDs	crossref_primary_10_1109_LRA_2022_3152696 ieee_primary_9718153 proquest_journals_2672099850 crossref_citationtrail_10_1109_LRA_2022_3152696
PublicationCentury	2000
PublicationDate	2022-07-01
PublicationDateYYYYMMDD	2022-07-01
PublicationDate_xml	– month: 07 year: 2022 text: 2022-07-01 day: 01
PublicationDecade	2020
PublicationPlace	Piscataway
PublicationPlace_xml	– name: Piscataway
PublicationTitle	IEEE robotics and automation letters
PublicationTitleAbbrev	LRA
PublicationYear	2022
Publisher	IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml	– name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References	ref13 ref35 ref15 ref37 ref14 ref36 ref31 ref11 ref10 Ali (ref32) 2017 ref2 Nocedal (ref33) 2006 Tassa (ref17) 2007 Vandenberghe (ref30) 2010 ref39 ref16 ref38 ref19 ref18 Dini (ref22) 1907; 1 Jacobson (ref1) 1970 Pfrommer (ref12) 2020 Tedrake (ref34) 2021 Wanner (ref25) 1996; 375 ref24 ref23 ref26 Schlick (ref44) 2010; 2 ref20 ref42 ref41 ref21 ref28 ref27 ref29 ref8 ref7 ref9 ref4 ref3 ref6 ref5 ref40 LeCun (ref43) 2006; 1
References_xml	– ident: ref18 doi: 10.1109/ICRA.2014.6907001 – ident: ref20 doi: 10.1109/IROS40897.2019.8967788 – volume: 1 year: 2006 ident: ref43 article-title: A tutorial on energy-based learning publication-title: Predicting Structured Data – ident: ref23 doi: 10.1007/978-3-030-66723-8_12 – ident: ref6 doi: 10.1177/0278364913506757 – ident: ref5 doi: 10.1109/AMC.2006.1631739 – ident: ref41 doi: 10.2514/1.47202 – ident: ref2 doi: 10.1109/TEVC.2017.2712906 – start-page: 70 volume-title: Proc. Int. Conf. Mach. Learn. year: 2017 ident: ref32 article-title: A semismooth Newton method for fast, generic convex programming – volume-title: Differential Dynamic Programming year: 1970 ident: ref1 – ident: ref26 doi: 10.1007/s12532-020-00179-2 – ident: ref9 doi: 10.1109/ICRA46639.2022.9811647 – ident: ref36 doi: 10.1016/S0024-3795(98)10032-0 – ident: ref19 doi: 10.1109/IROS45743.2020.9340883 – ident: ref27 doi: 10.1007/s10957-016-0892-3 – ident: ref40 doi: 10.1109/TCST.2009.2017934 – volume: 375 volume-title: Solving Ordinary Differential Equations II year: 1996 ident: ref25 – volume-title: Conf. Robot Learn. year: 2020 ident: ref12 article-title: ContactNets: Learning discontinuous contact dynamics with smooth, implicit representations – ident: ref10 doi: 10.1109/LRA.2021.3066969 – start-page: 1465 volume-title: Proc. Neural Inf. Process. Syst. year: 2007 ident: ref17 article-title: Receding horizon differential dynamic programming – ident: ref11 doi: 10.1109/LRA.2021.3061341 – ident: ref16 doi: 10.1109/LRA.2022.3146931 – ident: ref15 doi: 10.23919/ACC.2017.7963708 – ident: ref13 doi: 10.1109/TRO.2024.3351554 – volume-title: Numerical Optimization year: 2006 ident: ref33 – ident: ref39 doi: 10.1007/s10107-004-0559-y – ident: ref29 doi: 10.23919/ECC.2013.6669541 – ident: ref37 doi: 10.21236/ADA225713 – ident: ref4 doi: 10.1109/IROS.2015.7353843 – ident: ref38 doi: 10.1007/978-3-030-28619-4_66 – ident: ref21 doi: 10.2514/6.2008-6615 – volume: 1 volume-title: Lezioni di Analisi Infinitesimale year: 1907 ident: ref22 – ident: ref28 doi: 10.1007/s10957-021-01896-x – ident: ref7 doi: 10.1109/ICRA40945.2020.9196673 – ident: ref24 doi: 10.2514/1.G001176 – year: 2010 ident: ref30 article-title: The CVXOPT linear and quadratic cone program solvers – ident: ref3 doi: 10.1109/IROS.2012.6386109 – ident: ref14 doi: 10.1007/978-3-030-95459-8_48 – ident: ref31 doi: 10.1017/CBO9780511804441 – year: 2021 ident: ref34 article-title: Underactuated robotics: Algorithms for walking, running, swimming, flying, and manipulation (course notes for MIT 6.832) – volume: 2 volume-title: Molecular Modeling and Simulation: An Interdisciplinary Guide year: 2010 ident: ref44 doi: 10.1007/978-1-4419-6351-2 – ident: ref8 doi: 10.1007/978-3-0348-7539-4_10 – ident: ref42 doi: 10.1007/978-3-030-43089-4_51 – ident: ref35 doi: 10.1007/978-3-642-10960-7_7
SSID	ssj0001527395
Score	2.3966467
Snippet	We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and... We present a framework for bi-level trajectory optimization in which a system’s dynamics are encoded as the solution to a constrained optimization problem and...
SourceID	proquest crossref ieee
SourceType	Aggregation Database Enrichment Source Index Database Publisher
StartPage	6750
SubjectTerms	Aerodynamics Complex systems Constraints Coulomb friction Dynamics Friction Heuristic algorithms Iterative methods Locomotion motion and path planning Optimization optimization and optimal control Planning Representations Task analysis Trajectory optimization
Title	Trajectory Optimization with Optimization-Based Dynamics
URI	https://ieeexplore.ieee.org/document/9718153 https://www.proquest.com/docview/2672099850
Volume	7
WOSCitedRecordID	wos000804693400011&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVIEE databaseName: IEEE Electronic Library (IEL) customDbUrl: eissn: 2377-3766 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0001527395 issn: 2377-3766 databaseCode: RIE dateStart: 20160101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE – providerCode: PRVHPJ databaseName: ROAD: Directory of Open Access Scholarly Resources customDbUrl: eissn: 2377-3766 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0001527395 issn: 2377-3766 databaseCode: M~E dateStart: 20160101 isFulltext: true titleUrlDefault: https://road.issn.org providerName: ISSN International Centre
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3NS8MwFH9sw4Me_JridI4evAjG9SNN845TJx7mFNlht5I0KSi6yT4EL_7tJmk3HYrgrZSktL_0fSa_9wBOeCyMI4oR4VxLQilqIjj6ROaaB8biCd93ROFe0u_z4RDvK3C25MJord3hM31uL91evhpnc5sqa6NRpEZCq1BNElZwtb7yKbaSGMaLnUgf272Hjon_wtCEpbaNNluxPK6Vyg_964zK9db_XmcbNkvn0esUq70DFT3ahY1vJQXrwI3xeXKZ-HfvzqiDl5Jn6dmE68odcmEMmPKuipb00z0YXHcHlzek7I5AshCDGREiojJXGFMlM0GV8cT8nEqUSugglOaDQy2CJNGMJVRzlAEKwXQiopzpLI72oTYaj_QBeAoDF6YJI9-UyhhFHqFClgXKOGCcNaC9AC7NysrhtoHFc-oiCB9TA3VqoU5LqBtwupzxWlTN-GNs3UK7HFei2oDmYm3SUqymacgSS_XlsX_4-6wjWLfPLs7TNqE2m8z1Maxlb7PH6aQF1duPbsv9N59lbMBC
linkProvider	IEEE
linkToHtml	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1bS8MwFD7MKagP3sXp1D74IliXtmmb8zgvY2KdInvYW0maFBTdZBfBf2-SdtOhCL6VktD2S881-c4BOGEh144oBi5jSriUonI5Q-KKXDFPWzxOiCUKJ3Gnw3o9fKjA2YwLo5Syh8_Uubm0e_lykE1MqqyBWpFqCV2AxZBSnxRsra-MiqklhuF0L5JgI3ls6gjQ93VgahppR3O2xzZT-aGBrVlprf_vhTZgrXQfnWax3ptQUf0tWP1WVHAbmDY_zzYX_-Hca4XwWjItHZNynbvjXmgTJp2roin9aAe6revuZdst-yO4mY_e2OU8oCKXGFIpMk6l9sVITgUKyZXnC_3BvuJeHKsoiqliKDzkPFIxD_JIZWGwC9X-oK_2wJHo2UCNawmnVITI8wAlRpkntQvGoho0psClWVk73LSweEltDEEw1VCnBuq0hLoGp7MZb0XdjD_GbhtoZ-NKVGtQn65NWgrWKPWj2JB9WUj2f591DMvt7l2SJjed2wNYMc8pTtfWoToeTtQhLGXv46fR8Mj-PZ8B5sJY
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Trajectory+Optimization+with+Optimization-Based+Dynamics&rft.jtitle=IEEE+robotics+and+automation+letters&rft.au=Howell%2C+Taylor+A&rft.au=Simon+Le+Cleac%27h&rft.au=Singh%2C+Sumeet&rft.au=Florence%2C+Pete&rft.date=2022-07-01&rft.pub=The+Institute+of+Electrical+and+Electronics+Engineers%2C+Inc.+%28IEEE%29&rft.eissn=2377-3766&rft.volume=7&rft.issue=3&rft.spage=6750&rft_id=info:doi/10.1109%2FLRA.2022.3152696&rft.externalDBID=NO_FULL_TEXT
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2377-3766&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2377-3766&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2377-3766&client=summon