Learning from Demonstration

A lightweight simulator with force rendering created with rviz and DART. Provides a training ground for learning robust policies from demonstration with a haptic input device.

A demonstration recorder for the Baxter robot utilizing the button and display interfaces to make it easier to record demonstrations when operating Baxter in gravity compensation mode.

An active learning approach to learning a library of Probabilistic Movement Primitives capable of generalizing over a bounded space.

An apporach to learning a dynamic constraint frame from demonstration for hybrid force/position control using Cartesian Dynamic Movement Primitives.