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  • The Inria's Research Teams produce an annual Activity Report presenting their activities and their results of the year. These reports include the team members, the scientific program, the software developed by the team and the new results of the year. The report also describes the grants, contracts and the activities of dissemination and teaching. Finally, the report gives the list of publications of the year.

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Section: New Software and Platforms

ProMP

Probabilistic Movement Primitives

Keywords: Interaction - Robotics - Probability - Motion model - Robot Operating System (ROS)

Functional Description: Joint-space primitives with a task-space constraint: The primitives are stored in joint-space but demonstrations are provided both in joint space and task space, context. Thanks to this context, task-space goals can be requested to these joint-space primitives. The benefit is that requesting a new task-space goal does not require to call an IK method which would return demonstrations-agnostic joint configurations.

Vocal interactive learning and clustering: This work includes an interactive learning aspect which allows to automatically cluster motor primitives based on the standard deviation of their demonstrations. A new primitive is created automatically if the provided demonstration is out of 2 standard deviation of the existing primitives, otherwise the demonstration is distributed to an existing one.