Part I: Optimization-based
MIT 6.800/6.843:
Robotic Manipulation
Fall 2021, Lecture 15
Follow live at https://slides.com/d/CnDN410/live
(or later at https://slides.com/russtedrake/fall21-lec15)
Charles W. Wampler and Andrew J. Sommese. Numerical algebraic geometry and algebraic kinematics. Acta Numerica, 20:469-567, 2011.
subject to:
work by Hongkai Dai et al. at TRI
Danny Driess and Jung-Su Ha and Marc Toussaint, Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial
Scene Image, Robotics: Science and Systems (R:SS) 2020.