نسخة أولية وصول مفتوح
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 …