225 citations · 329 across the 6 of their papers we have counts for
7 papers
An Incremental Inverse Reinforcement Learning Approach for Motion Planning with Separated Path and Velocity Preferences
Armin Avaei, Linda van der Spaa, Luka Peternel +1
Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper…
Interactive Imitation Learning of Bimanual Movement Primitives
Giovanni Franzese, Leandro de Souza Rosa, Tim Verburg +2
Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many ch…
Model Predictive Impedance Control with Gaussian Processes for Human and Environment Interaction
Kevin Haninger, Christian Hegeler, Luka Peternel
Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. I…
Model Predictive Control with Gaussian Processes for Flexible Multi-Modal Physical Human Robot Interaction
Kevin Haninger, Christian Hegeler, Luka Peternel
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human s…
Periodic DMP formulation for Quaternion Trajectories
Fares J. Abu-Dakka, Matteo Saveriano, Luka Peternel
Imitation learning techniques have been used as a way to transfer skills to robots. Among them, dynamic movement primitives (DMPs) have been widely exploited as an effective and an…
ILoSA: Interactive Learning of Stiffness and Attractors
Giovanni Franzese, Anna Mészáros, Luka Peternel +1
Teaching robots how to apply forces according to our preferences is still an open challenge that has to be tackled from multiple engineering perspectives. This paper studies how to…
Dynamic Movement Primitives in Robotics: A Tutorial Survey
Matteo Saveriano, Fares J. Abu-Dakka, Aljaz Kramberger +1
Biological systems, including human beings, have the innate ability to perform complex tasks in versatile and agile manner. Researchers in sensorimotor control have tried to unders…