Inferring the Geometric Nullspace of Robot Skills from Human Demonstrations
Inferring the Geometric Nullspace of Robot Skills from Human Demonstrations
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Ithaca: Cornell University Library, arXiv.org
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English
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Ithaca: Cornell University Library, arXiv.org
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In this paper we present a framework to learn skills from human demonstrations in the form of geometric nullspaces, which can be executed using a robot. We collect data of human demonstrations, fit geometric nullspaces to them, and also infer their corresponding geometric constraint models. These geometric constraints provide a powerful mathematica...
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Inferring the Geometric Nullspace of Robot Skills from Human Demonstrations
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TN_cdi_proquest_journals_2507371017
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_proquest_journals_2507371017
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E-ISSN
2331-8422
DOI
10.48550/arxiv.2103.16092
