Learning Forceful Manipulation Skills from Multi-modal Human Demonstrations
An T. Le,Meng Guo,Niels van Duijkeren,Leonel Rozo,Robert Krug,Andras G. Kupcsik,Mathias Bürger,An T. Le,Meng Guo,Niels van Duijkeren,Leonel Rozo,Robert Krug,Andras G. Kupcsik,Mathias Bürger
Learning from Demonstration (LfD) provides an intuitive and fast approach to program robotic manipulators. Task parameterized representations allow easy adaptation to new scenes and online observations. However, this approach has been limited to pose-only demonstrations and thus only skills with spatial and temporal features. In this work, we extend the LfD framework to address forceful manipulati...
