Learning parametric dynamic movement primitives from multiple demonstrations

  title={Learning parametric dynamic movement primitives from multiple demonstrations},
  author={Takamitsu Matsubara and Sang-Ho Hyon and Jun Morimoto},
  journal={Neural networks : the official journal of the International Neural Network Society},
  volume={24 5},
Learning from demonstration has shown to be a suitable approach for learning control policies (CPs). However, most previous studies learn CPs from a single demonstration, which results in limited scalability and insufficient generalization toward a wide range of applications in real environments. This paper proposes a novel approach to learn highly scalable CPs of basis movement skills from multiple demonstrations. In contrast to conventional studies with a single demonstration, i.e., dynamic… CONTINUE READING
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