Learning to Sequence and Blend Robot Skills via Differentiable Optimization

@article{Jaquier2022LearningTS,
  title={Learning to Sequence and Blend Robot Skills via Differentiable Optimization},
  author={No{\'e}mie Jaquier and You Zhou and Julia Starke and Tamim Asfour},
  journal={IEEE Robotics and Automation Letters},
  year={2022},
  volume={7},
  pages={8431-8438}
}
In contrast to humans and animals who naturally execute seamless motions, learning and smoothly executing sequences of actions remains a challenge in robotics. This letter introduces a novel skill-agnostic framework that learns to sequence and blend skills based on differentiable optimization. Our approach encodes sequences of previously-defined skills as quadratic programs (QP), whose parameters determine the relative importance of skills along the task. Seamless skill sequences are then… 
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