The dmp_lib library offers several Dynamic Movement Primitive (DMP) implementations for robot learning from demonstrations:
- Standard DMPs
- Bimanual DMPs
- Target-Referred DMPs
The package can be installed by running
pip install -e .
The repository contains two folders: dmp_lib and example.
The dmp_lib folder contains all the modules implementing DMPs.
The example folder contains example scripts (run them from inside it).
The complete library documentation is available at: https://fabio-amadio.github.io/dmp_lib/.
If you use this package for any academic work, please cite our original paper.
@inproceedings{amadio2022target,
author={Amadio, Fabio and Laghi, Marco and Raiano, Luigi and Rollo, Federico and Zunino, Andrea and Raiola, Gennaro and Ajoudani, Arash},
booktitle={2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)},
title={Target-Referred DMPs for Learning Bimanual Tasks from Shared-Autonomy Telemanipulation},
year={2022},
volume={},
number={},
pages={496-503},
doi={10.1109/Humanoids53995.2022.10000233}
}