Motion generation by reference-point-dependent trajectory HMMs

Abstract

This paper presents an imitation learning method for object manipulation such as rotating an object or placing one object on another. In the proposed method, motions are learned using reference-point-dependent probabilistic models. Trajectory hidden Markov models (HMMs) are used as the probabilistic models so that smooth trajectories can be generated from… (More)
DOI: 10.1109/IROS.2011.6094791

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