Section: New Software and Platforms
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.