Incremental Learning of Full-Pose Via-Point Movement Primitives on Riemannian Manifolds
Tilman Daab,Noémie Jaquier,Christian Dreher,Andre Meixner,Franziska Krebs,Tamim Asfour,Tilman Daab,Noémie Jaquier,Christian Dreher,Andre Meixner,Franziska Krebs,Tamim Asfour
Movement primitives (MPs) are compact representations of robot skills that can be learned from demonstrations and combined into complex behaviors. However, merely equipping robots with a fixed set of innate MPs is insufficient to deploy them in dynamic and unpredictable environments. Instead, the full potential of MPs remains to be attained via adaptable, large-scale MP libraries. In this paper, w...
