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Dynamic movement primitives (DMPs) are a flexible trajectory learning scheme widely used in motion generation of robotic systems. However, existing DMP-based methods mainly focus on simple go-to-goal tasks. Motivated to handle tasks beyond point-to-point motion planning, this work presents temporal logic guided optimization of motion primitives, namely <tex>$\mathbf{PI}^{\mathbf{BB}-\mathbf{TL}}$</tex> algorithm, for complex manipulation tasks with user preferences. In particular, weighted truncated linear temporal logic (wTLTL) is incorporated in the <tex>$\mathbf{PI}^{\mathbf{BB}-\mathbf{TL}}$</tex> algorithm, which not only enables the encoding of complex tasks that involve a sequence of logically organized action plans with user preferences, but also provides a convenient and efficient means to design the cost function. The black-box optimization is then adapted to identify optimal shape parameters of DMPs to enable motion planning of robotic systems. The effectiveness of the <tex>$\mathbf{PI}^{\mathbf{BB}-\mathbf{TL}}$</tex> algorithm is demonstrated via simulation and experiment.

Temporal Logic Guided Motion Primitives for Complex Manipulation Tasks with User Preferences