ROBOTIC CONTROL WITH REAL-TIME SWITCHING BETWEEN TRAJECTORIES

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for switching in real-time between different trajectories during custom real-time control. One of the methods include: obtaining a definition of a first trajectory for a robot and a definition of a second trajectory for the robot; executing a current action for controlling the robot to follow set points of the first trajectory at each control tick of the real-time robotic control system, including, at each control tick of the real-time robotic control system: obtaining current data representing a latest execution status of the current action; evaluating one or more switching criteria associated with the current action according to the current data; and whenever the one or more switching criteria are satisfied during the control tick, switching to executing another action for controlling the robot to follow the second trajectory within the control tick.