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cs.RO2024
Differentiable Motion Manifold Primitives for Reactive Motion Generation under Kinodynamic Constraints
Yonghyeon Lee
Real-time motion generation -- which is essential for achieving reactive and adaptive behavior -- under kinodynamic constraints for high-dimensional systems is a crucial yet challe…
cs.RO2024
Motion Manifold Flow Primitives for Task-Conditioned Trajectory Generation under Complex Task-Motion Dependencies
Yonghyeon Lee, Byeongho Lee, Seungyeon Kim +1
Effective movement primitives should be capable of encoding and generating a rich repertoire of trajectories -- typically collected from human demonstrations -- conditioned on task…