Imitation of Manipulation Skills Using Multiple Geometries
Boyang Ti,Yongsheng Gao,Jie Zhao,Sylvain Calinon,Boyang Ti,Yongsheng Gao,Jie Zhao,Sylvain Calinon
Daily manipulation tasks are characterized by geometric primitives related to actions and object shapes. Such geometric descriptors are poorly represented by only using Cartesian coordinate systems. In this paper, we propose a learning approach to extract the optimal representation from a dictionary of coordinate systems to encode an observed movement/behavior. This is achieved by using an extensi...
