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DMP have been extensively applied in various robotic tasks thanks to their generalization and robustness properties. However, the successful execution of a given task may necessitate the use of different motion patterns that take into…
Dynamic manipulation is a key capability for advancing robot performance, enabling skills such as tossing. While recent learning-based approaches have pushed the field forward, most methods still rely on manually designed action…
Imitation learning techniques have been used as a way to transfer skills to robots. Among them, dynamic movement primitives (DMPs) have been widely exploited as an effective and an efficient technique to learn and reproduce complex discrete…
We bring a control perspective to the problem of identifying paths of measures for sampling via dynamic measure transport (DMT). We highlight the fact that commonly used paths may be poor choices for DMT and connect existing methods for…
Learning from demonstration (LfD) is considered as an efficient way to transfer skills from humans to robots. Traditionally, LfD has been used to transfer Cartesian and joint positions and forces from human demonstrations. The traditional…
Robots operating in human-centric environments must be both robust to disturbances and provably safe from collisions. Achieving these properties simultaneously and efficiently remains a central challenge. While Dynamic Movement Primitives…
Movement primitives have the property to accommodate changes in the robot state while maintaining attraction to the original policy. As such, we investigate the use of primitives as a blending mechanism by considering that state deviations…
Dynamic Movement Primitives have successfully been used to realize imitation learning, trial-and-error learning, reinforce- ment learning, movement recognition and segmentation and control. Because of this they have become a popular…
This paper presents a novel probabilistic approach to deep robot learning from demonstrations (LfD). Deep movement primitives (DMPs) are deterministic LfD model that maps visual information directly into a robot trajectory. This paper…
We propose a novel framework for enhancing robotic adaptability and learning efficiency, which integrates unsupervised trajectory segmentation with adaptive probabilistic movement primitives (ProMPs). By employing a cutting-edge deep…
This work introduces B-spline Movement Primitives (BMPs), a new Movement Primitive (MP) variant that leverages B-splines for motion representation. B-splines are a well-known concept in motion planning due to their ability to generate…
An open problem in industrial automation is to reliably perform tasks requiring in-contact movements with complex workpieces, as current solutions lack the ability to seamlessly adapt to the workpiece geometry. In this paper, we propose a…
The realization of motion description is a challenging work for fixed-wing Unmanned Aerial Vehicle (UAV) acrobatic flight, due to the inherent coupling problem in ranslational-rotational motion. This paper aims to develop a novel maneuver…
This paper describes the use of spatially-sparse inputs to influence global changes in the behavior of Dynamic Movement Primitives (DMPs). The dynamics of DMPs are analyzed through the framework of contraction theory as networked…
Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but…
Learning from Demonstration (LfD) stands as an efficient framework for imparting human-like skills to robots. Nevertheless, designing an LfD framework capable of seamlessly imitating, generalizing, and reacting to disturbances for…
We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into small sub-problems, leading to a low iteration cost and…
Learning grinding skills from human craftsmen via imitation learning has become a key research topic in robotic machining. Due to their strong generalization and robustness to external disturbances, Dynamical Movement Primitives (DMPs)…
DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…
From early Movement Primitive (MP) techniques to modern Vision-Language Models (VLMs), autonomous manipulation has remained a pivotal topic in robotics. As two extremes, VLM-based methods emphasize zero-shot and adaptive manipulation but…