Inferring the Geometric Nullspace of Robot Skills from Human Demonstrations
Caixia Cai,Ying Siu Liang,Nikhil Somani,Wu Yan,Caixia Cai,Ying Siu Liang,Nikhil Somani,Wu Yan
In this paper we present a framework to learn skills from human demonstrations in the form of geometric nullspaces, which can be executed using a robot. We collect data of human demonstrations, fit geometric nullspaces to them, and also infer their corresponding geometric constraint models. These geometric constraints provide a powerful mathematical model as well as an intuitive representation of ...
