Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation
Joaquim Ortiz-Haro Valentin N. Hartmann Ozgur S. Oguz Marc Toussaint Joaquim Ortiz-Haro Valentin N. Hartmann Ozgur S. Oguz Marc Toussaint
Efficient sampling from constraint manifolds, and thereby generating a diverse set of solutions for feasibility problems, is a fundamental challenge. We consider the case where a problem is factored, that is, the underlying nonlinear program is decomposed into differentiable equality and inequality constraints, each of which depends only on some variables. Such problems are at the core of efficien...