Probabilistic Prioritization of Movement Primitives

  title={Probabilistic Prioritization of Movement Primitives},
  author={Alexandros Paraschos and Rudolf Lioutikov and Jan Peters and Gerhard Neumann},
  journal={IEEE Robotics and Automation Letters},
Movement prioritization is a common approach to combine controllers of different tasks for redundant robots, where each task is assigned a priority. The priorities of the tasks are often handtuned or the result of an optimization, but seldomly learned from data. This letter combines Bayesian task prioritization with probabilistic movement primitives (ProMPs) to prioritize full motion sequences that are learned from demonstrations. ProMPs can encode distributions of movements over full motion… CONTINUE READING