Accepted papers!!!

Great news!!! Our paper on “Geometry-aware Dynamic Movement Primitives” got accepted in ICRA2020

Learning geometry-based robot-manipulation skills

In many robot control problems, skills such as stiffness, damping and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, orientations are represented as unit quaternions, sensory data processed as spatial covariances, etc., which capture the specific geometric characteristics of those skills. Typical learned skill models such as dynamic movement primitives (DMPs), probabilistic […]