62 citations · 165 across the 5 of their papers we have counts for
5 papers
Incremental Skill Learning of Stable Dynamical Systems
Matteo Saveriano, Dongheui Lee
Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past deca…
Merging Position and Orientation Motion Primitives
Matteo Saveriano, Felix Franzel, Dongheui Lee
In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations endi…
Learning Barrier Functions for Constrained Motion Planning with Dynamical Systems
Matteo Saveriano, Dongheui Lee
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering pos…
A Human Action Descriptor Based on Motion Coordination
Pietro Falco, Matteo Saveriano, Eka Gibran Hasany +2
In this paper, we present a descriptor for human whole-body actions based on motion coordination. We exploit the principle, well known in neuromechanics, that humans move their joi…
On Policy Learning Robust to Irreversible Events: An Application to Robotic In-Hand Manipulation
Pietro Falco, Abdallah Attawia, Matteo Saveriano +1
In this letter, we present an approach for learning in-hand manipulation skills with a low-cost, underactuated prosthetic hand in the presence of irreversible events. Our approach…