Preprint
Oct 2026
Interaction-Stiffness-Guided Basis Allocation in Dynamic Movement Primitives for Efficient Skill Transfer
Dynamic Movement Primitives (DMPs) provide a compact and stable formulation for trajectory representation and generalization in robot skill learning. However, their predefined basis layout limits the allocation of approximation capacity according to stage-dependent precision requirements. To address this issue, this ar...
Chan Xu, Si-Lu Chen, De-Hao Wang et al.
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