arxivcs.ROeess.SY2026-07-01
Learning from Demonstration via Spatiotemporal Tubes for Unknown Euler-Lagrange Systems
Ratnangshu Das, Puneeth Shankar, Varuni Buereddy, Ravi Prakash, Pushpak Jagtap
We present STT-LfD, a unified Learning from Demonstration (LfD) framework that integrates motion learning with control for unknown Euler-Lagrange systems. Unlike traditional decoupled approaches that track a fixed reference, the proposed method treats demonstrations as a data-dri…