Reactive interactions for robotic applications and other automated systems

A method, comprising:

• determining, during a sequence of time steps, a set of positions for a robot to perform an action;
• determining, between a current position and a final position of the set of positions, a sequence of motions that satisfy one or more motion constraints, the sequence of motions allowing for a change in a target position from among the set of positions at individual time steps of the sequence of time steps;
• causing, at individual time steps of the sequence of time steps, the robot to perform a respective motion of the sequence of motions in order to move at least a portion of the robot with respect to the target position;
• and
• causing the robot to perform the action when at least the portion of the robot is determined to be within a threshold distance to the target position.

A system, comprising:

• one or more processing units to:
• determine, during a sequence of time steps, a set of positions for a robot to perform an action;
• determine, between a current position and a final position of the set of positions, a sequence of motions that satisfy one or more motion constraints, the sequence of motions allowing for a change in a target position from among the set of positions at individual time steps of the sequence of time steps;
• cause, at individual time steps of the sequence of time steps, the robot to perform a respective motion of the sequence of motions in order to move at least a portion of the robot with respect to the target position;
• and
• cause the robot to perform the action when at least the portion of the robot is determined to be within a threshold distance to the target position.