MMP++: Motion Manifold Primitives with Parametric Curve Models

arXiv:2310.17072v3 Announce Type: replace-cross
Abstract: Motion Manifold Primitives (MMP), a manifold-based approach for encoding basic motion skills, can produce diverse trajectories, enabling the system to adapt to unseen constraints. Nonetheless, we argue that current MMP models lack crucial functionalities of movement primitives, such as temporal and via-points modulation, found in traditional approaches. This shortfall primarily stems from MMP's reliance on discrete-time trajectories. To overcome these limitations, we introduce Motion Manifold Primitives++ (MMP++), a new model that integrates the strengths of …

abstract adapt arxiv basic constraints cs.ai cs.lg cs.ro current diverse enabling encoding found manifold parametric skills temporal type via