Cover Image

PUMA: Deep Metric Imitation Learning for Stable Motion Primitives

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Pérez-Dattari, Rodrigo, Della Santina, Cosimo, Kober, Jens
Format:	Preprint
Published:	2023
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

PUMA: Deep Metric Imitation Learning for Stable Motion Primitives
by: Rodrigo Pérez‐Dattari, et al.
Published: (2024)

From Action Labels to Sets: Rethinking Action Supervision for Imitation Learning from Corrective Feedback
by: Li, Zhaoting, et al.
Published: (2025)

TamedPUMA: safe and stable imitation learning with geometric fabrics
by: Bakker, Saray, et al.
Published: (2025)

Scalable Task Planning via Large Language Models and Structured World Representations
by: Rodrigo Pérez‐Dattari, et al.
Published: (2025)

Scalable Task Planning via Large Language Models and Structured World Representations
by: Pérez-Dattari, Rodrigo, et al.
Published: (2024)

Generalizable Motion Policies through Keypoint Parameterization and Transportation Maps
by: Franzese, Giovanni, et al.
Published: (2024)

Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds
by: Vezzi, Francecso, et al.
Published: (2023)

Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning
by: Montero, Mariano Ramírez, et al.
Published: (2024)

MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices
by: Franzese, Giovanni, et al.
Published: (2025)

Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design
by: Atanassov, Vassil, et al.
Published: (2024)

Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
by: Apostolides, Georgios, et al.
Published: (2025)

Learning to Move in Rhythm: Task-Conditioned Motion Policies with Orbital Stability Guarantees
by: Stölzle, Maximilian, et al.
Published: (2025)

Set-Supervised Diffusion Policy: Learning Action-Chunking Diffusion through Corrections
by: Li, Zhaoting, et al.
Published: (2026)

Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space
by: Stölzle, Maximilian, et al.
Published: (2024)

Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds
by: Ding, Jiatao, et al.
Published: (2025)

SENSE-STEP: Learning Sim-to-Real Locomotion for a Sensory-Enabled Soft Quadruped Robot
by: de Kam, Storm, et al.
Published: (2026)

An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots
by: Stölzle, Maximilian, et al.
Published: (2023)

ILeSiA: Interactive Learning of Robot Situational Awareness from Camera Input
by: Vanc, Petr, et al.
Published: (2024)

Impedance Primitive-augmented Hierarchical Reinforcement Learning for Sequential Tasks
by: Tahmaz, Amin Berjaoui, et al.
Published: (2025)

Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots
by: Patterson, Zach J., et al.
Published: (2023)

Recursive Model-agnostic Inverse Dynamics of Serial Soft-Rigid Robots
by: Pustina, Pietro, et al.
Published: (2024)

Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control
by: Valadas, Ricardo, et al.
Published: (2024)

Real-Time Generation of Near-Minimum-Energy Trajectories via Constraint-Informed Residual Learning
by: Dona', Domenico, et al.
Published: (2025)

Controlling Deformable Objects with Non-negligible Dynamics: a Shape-Regulation Approach to End-Point Positioning
by: Tiburzio, Sebastien, et al.
Published: (2024)

Berry Twist: a Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting
by: Elfferich, Johannes F., et al.
Published: (2024)

Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact
by: Patterson, Zach J., et al.
Published: (2024)

Infinite-Dimensional Closed-Loop Inverse Kinematics for Soft Robots via Neural Operators
by: Veil, Carina, et al.
Published: (2026)

SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots
by: Zhang, Chuhan, et al.
Published: (2025)

Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators
by: Walker, Kyle L., et al.
Published: (2024)

Symmetries Here and There, Combined Everywhere: Cross-space Symmetry Compositions in Robotics
by: Hadjiloizou, Loizos, et al.
Published: (2026)

Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing
by: Yang, Peiyu, et al.
Published: (2026)

Reconciling distributed compliance with high-performance control in continuum soft robotics
by: Perfetta, Vito Daniele, et al.
Published: (2026)

Symbolic Learning of Interpretable Reduced-Order Models for Jumping Quadruped Robots
by: Buriani, Gioele, et al.
Published: (2025)

Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains
by: Piazza, Cristina, et al.
Published: (2024)

Noise-conditioned Energy-based Annealed Rewards (NEAR): A Generative Framework for Imitation Learning from Observation
by: Diwan, Anish Abhijit, et al.
Published: (2025)

Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots
by: Pustina, Pietro, et al.
Published: (2024)

Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control
by: Stölzle, Maximilian, et al.
Published: (2024)

Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
by: Wong, Kiwan, et al.
Published: (2025)

Properties of Lyapunov Subcenter Manifolds in Conservative Mechanical Systems
by: Wotte, Yannik P., et al.
Published: (2025)

Imitation Learning for Robotic Assisted Ultrasound Examination of Deep Venous Thrombosis using Kernelized Movement Primitives
by: Dall'Alba, Diego, et al.
Published: (2024)