In this paper, we present our work in progress towards creating a library of motion primitives. This library facilitates easier and more intuitive learning and reusing of robotic skills. Users can teach robots complex skills through Learning from Demonstration, which is automatically segmented into primitives and stored in clusters of similar skills. We propose a novel multimodal segmentation method as well as a novel trajectory clustering method. Then, when needed for reuse, we transform primitives into new environments using trajectory editing. We present simulated results for our framework with demonstrations taken on real-world robots.

翻译：本文介绍了我们正在构建的运动基元库的阶段性工作。该库能够更便捷、更直观地实现机器人技能的学习与复用。用户可通过示教学习教导机器人复杂技能，系统会自动将技能分割为基元，并存储于相似技能簇中。我们提出了新颖的多模态分割方法及轨迹聚类算法。当需要复用时，通过轨迹编辑将基元适配至新环境。我们展示了基于真实机器人示教数据的框架仿真结果。