Spectral Movement Primitives encode demonstrations as low-frequency Fourier coefficients and enforce joint limits by phase regulation without changing the represented end-effector path.
Toward simple control for complex, autonomous robotic applications: Combining discrete and rhythmic motor primitives,
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SPECTRA: Context-Conditioned Spectral Movement Primitives for Robot Skill Generalization
Spectral Movement Primitives encode demonstrations as low-frequency Fourier coefficients and enforce joint limits by phase regulation without changing the represented end-effector path.