Decoding RobKiNet: Insights into Efficient Training of Robotic Kinematics Informed Neural Network

Abstract: In robots task and motion planning (TAMP), it is crucial to sample within the robot's configuration space to meet task-level global constraints and enhance the efficiency of subsequent motion planning. Due to the complexity of joint configuration sampling under multi-level constraints, traditional methods often lack efficiency. This paper introduces the principle of RobKiNet, a kinematics-informed neural network, for end-to-end sampling within the Continuous Feasible Set (CFS) under multiple constraints in configuration space, establishing its Optimization Expectation Model. Comparisons with traditional sampling and learning-based approaches reveal that RobKiNet's kinematic knowledge infusion enhances training efficiency by ensuring stable and accurate gradient optimization.Visualizations and quantitative analyses in a 2-DOF space validate its theoretical efficiency, while its application on a 9-DOF autonomous mobile manipulator robot(AMMR) demonstrates superior whole-body and decoupled control, excelling in battery disassembly tasks. RobKiNet outperforms deep reinforcement learning with a training speed 74.29 times faster and a sampling accuracy of up to 99.25%, achieving a 97.33% task completion rate in real-world scenarios.