Environment-adaptive learning from demonstration for proactive assistance in human-robot collaborative tasks

Kun Qian, Xin Xu, Huan Liu, Jishen Bai, Shan Luo

Abstract: Highlights•A novel phase estimation algorithm for non-Gaussian or non-uniform phase variables.•Interactive Probabilistic Movement Primitives are extended to be environment-adaptive.•A system is implemented for enabling proactive robotic assistance behaviors.