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Long-term non-prehensile planar manipulation is a challenging task for robotplanning and feedback control. It is characterized by underactuation, hybridcontrol, and contact uncertainty. One main difficulty is to determine both thecontinuous and discrete contact configurations, e.g., contact points and modes,which requires joint logical and geometrical reasoning. To tackle this issue,we propose a demonstration-guided hierarchical optimization framework toachieve offline task and motion planning (TAMP). Our work extends theformulation of the dynamics model of the pusher-slider system to includeseparation mode with face switching mechanism, and solves a warm-started TAMPproblem by exploiting human demonstrations. We show that our approach can copewell with the local minima problems currently present in the state-of-the-artsolvers and determine a valid solution to the task. We validate our results insimulation and demonstrate its applicability on a pusher-slider system with areal Franka Emika robot in the presence of external disturbances.

Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation