Ahmed Abdelrahman

SPECTRA: Context-Conditioned Spectral Movement Primitives for Robot Skill Generalization

Boxuan Zhang, Sheng Liu, Chenlin Ming, Ahmed Abdelrahman

Robot imitation learning for manipulation should preserve demonstrated task geometry while producing dynamically admissible robot motions. Existing pipelines often learn task-dependent trajectories and impose execution limits afterward through filtering, smoothing, clipping, or t…Read more