Learning from Demonstration

Simulator for Teleoperation

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.

Baxter Demo Recorder

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.

Active Learning of Probabilistic Movement Primitives

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

Learning Task Constraints from Demonstration for Hybrid Force/Position Control

We learn a dynamic constraint frame from demonstration for hybrid force/position control using Cartesian Dynamic Movement Primitives.