ProDMPs: A Unified Perspective on Dynamic and Probabilistic Movement Primitives

no code implementations • 4 Oct 2022 • Ge Li, Zeqi Jin, Michael Volpp, Fabian Otto, Rudolf Lioutikov, Gerhard Neumann

MPs can be broadly categorized into two types: (a) dynamics-based approaches that generate smooth trajectories from any initial state, e. g., Dynamic Movement Primitives (DMPs), and (b) probabilistic approaches that capture higher-order statistics of the motion, e. g., Probabilistic Movement Primitives (ProMPs).

Numerical Integration