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A basic implementation of the Interaction Primitives framework for human robot collaboration

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Interaction Primitives

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A basic implementation of the Interaction Primitives framework for human robot collaboration

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This is a (mostly complete) implementation of the Interaction Primitives framework described Dr. Heni Ben Amor and others at TU Darmstadt.

See these papers for reference:

Ewerton, M.; Neumann, G.; Lioutikov, R.; Ben Amor, H.; Peters, J.; Maeda, G. (2015).
Learning Multiple Collaborative Tasks with a Mixture of Interaction Primitives, Proceedings of 2015 IEEE International Conference on Robotics and Automation (ICRA).
Ben Amor, H.; Neumann, G.; Kamthe, S.; Kroemer, O.; Peters, J. (2014).
Interaction Primitives for Human-Robot Cooperation Tasks , Proceedings of 2014 IEEE International Conference on Robotics and Automation (ICRA).
Maeda, G.J.; Ewerton, M.; Lioutikov, R.; Ben Amor, H.; Peters, J.; Neumann, G. (2014).
Learning Interaction for Collaborative Tasks with Probabilistic Movement Primitives, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS)
Probabilistic movement primitives. A Paraschos, C Daniel, JR Peters, G Neumann.
Advances in neural information processing systems, 2013.
  • TODO:

-- What if the trajectories are longer than 100 timesteps? Is that a problem? Do I just interpolate to 100 timesteps? -- Or do I consider the trajectories to have more timesteps? How do I deal with trajectories of different lengths? -- Run Baxter IP either keeping obs trajectories random or by expanding code to deal with no human or controlled agent --

Credits

This package was created with Cookiecutter and the audreyr/cookiecutter-pypackage project template.

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A basic implementation of the Interaction Primitives framework for human robot collaboration

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