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Learning complex robot motions necessarily demands to have models that are able to encode and retrieve full-pose trajectories when tasks are defined in operational spaces.
Closed-loop manipulator control using quaternion feedback
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Computational approaches to motor learning by imitation
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A Riemannian framework for tensor computing
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Optimization Algorithms on Matrix Manifolds
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Learning stable nonlinear dynamical systems with Gaussian mixture models
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Online movement adaptation based on previous sensor experiences
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Intrinsic Statistical Techniques for Robust Pose Estimation
G. Dubbelman · 2011
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A. J. Ijspeert, J. Nakanishi, H. Hoffmann, P. Pastor, and S. Schaal · 2013
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Geodesic regression and the theory of least squares on Riemannian manifolds
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Orientation in Cartesian space dynamic movement primitives
A. Ude, B. Nemec, T. Petrić, and J. Morimoto · 2014
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Multivariate general linear models (MGLM) on Riemannian manifolds with applications to statistical analysis of diffusion weighted images
H. J. Kim, N. Adluru, M. D. Collins, M. K. Chung, B. B. Bendin, S. C. Johnson, R. J. Davidson, and V. Singh · 2014
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Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems
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On the analysis of movement smoothness
S. Balasubramanian, A. Melendez-Calderon, A. Roby-Brami, and E. Burdet · 2015
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S. Calinon · 2016
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Using probabilistic movement primitives in robotics
A. Paraschos, C. Daniel, J. Peters, and G. Neumann · 2018
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Perspectives on Euler angle singularities, gimbal lock, and the orthogonality of applied forces and applied moments
E. G. Hemingway and O. M. O’Reilly · 2018
A correct formulation for the orientation dynamic movement primitives for robot control in the Cartesian space
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Merging position and orientation motion primitives
M. Saveriano, F. Franzel, and D. Lee · 2019
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Pyrobolearn: A python framework for robot learning practitioners
B. Delhaisse, L. Rozo, and D. G. Caldwell · 2019
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Neural dynamic policies for end-to-end sensorimotor learning
S. Bahl, M. Mukadam, A. Gupta, and D. Pathak · 2020
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Toward orientation learning and adaptation in Cartesian space
Y. Huang, F. J. Abu-Dakka, J. Silvério, and D. G. Caldwell · 2020
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An introduction to optimization on smooth manifolds
N. Boumal · 2020
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Programming by Demonstration on Riemannian Manifolds
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Introduction to Riemannian Manifolds
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Conditional neural movement primitives
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Kernelized movement primitives
Y. Huang, L. Rozo, J. Silvério, and D. G. Caldwell · 2019
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Bayesian optimization meets Riemannian manifolds in robot learning
N. Jaquier, L. Rozo, S. Calinon, and M. Bürger · 2019
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Learning and sequencing of object-centric manipulation skills for industrial tasks
L. Rozo, M. Guo, A. G. Kupcsik, M. Todescato, P. Schillinger, M. Giftthaler, M. Ochs, M. Spies, N. Waniek, P. Kesper, and M. Bürger · 2020
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Benchmark for skill learning from demonstration: Impact of user experience, task complexity, and start configuration on performance
M. A. Rana, D. Chen, J. Williams, V. Chu, S. R. Ahmadzadeh, and S. Chernova · 2020
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A micro lie theory for state estimation in robotics, 2020
J. Solà, J. Deray, and D. Atchuthan · 2020
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Geometry-aware manipulability learning, tracking and transfer
N. Jaquier, L. Rozo, D. G. Caldwell, and S. Calinon · 2021
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