Author

Ziren Yang

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Preprint Jul 2026

User-Driven Learning from Demonstration: A Trajectory and Impedance Learning Method

The method eliminates repeated teaching for the same task and enables real-time learning from a single demonstration, which mitigates potential safety issues in Human-Robot Interaction (HRI) that arise from conventional time-indexed trajectories lacking compliance.

Ziren Yang, M. Kermani · 0 citations