Optimizing Demonstrated Robot Manipulation Skills for Temporal Logic Constraints
Akshay Dhonthi,Philipp Schillinger,Leonel Rozo,Daniele Nardi,Akshay Dhonthi,Philipp Schillinger,Leonel Rozo,Daniele Nardi
For performing robotic manipulation tasks, the core problem is determining suitable trajectories that fulfill the task requirements. Various approaches to compute such trajectories exist, being learning and optimization the main driving techniques. Our work builds on the learning-from-demonstration (LfD) paradigm, where an expert demonstrates motions, and the robot learns to imitate them. However,...
