Reproduce “Spacetime Splines for Adaptive Robot Motions” on OpenResearch
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About this paper
Boxuan Zhang, Ante Marić, Sylvain Calinon
The authors present a spline model that jointly represents a shared path, demonstration-specific monotone timing profiles, and coverage intervals for partial demonstrations. Alternating updates fit geometry and timing separately. In 15 synthetic runs, it reduces geometry, phase, and coverage errors relative to a one-shot variant; the results support the formulation in that setup, while DTW+spline performs best with a clean reference.
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