Learning Orbitally Stable Systems for Diagrammatically Teaching

arXiv:2309.10298v2 Announce Type: replace-cross
Abstract: Diagrammatic Teaching is a paradigm for robots to acquire novel skills, whereby the user provides 2D sketches over images of the scene to shape the robot's motion. In this work, we tackle the problem of teaching a robot to approach a surface and then follow cyclic motion on it, where the cycle of the motion can be arbitrarily specified by a single user-provided sketch over an image from the robot's camera. Accordingly, we contribute the …

abstract arxiv cs.lg cs.ro images novel paradigm robot robots sketches skills surface systems teaching type work