SIMPLe: Safe, Interactive Movement Primitives Learning

This is the code used for the experiments done for the paper:

Interactive Imitation Learning of Bimanual Movement Primitives

published in Transaction of Mechatronics (T-MECH).

• The official repository

• The paper

Installation

Clone the repository in your ROS workspace.

git clone https://github.com/franzesegiovanni/SIMPLe.git 

Build your workspace.

catkin build

How to run SIMPLe bimanual

Install the bimanual controller in the your workspace. Follow the instruction in the link

• The bimanual impedance controller

Add this repo to your workspace and install it.

In the directory scripts there are many examples.

How to run SIMPLe on a single robot

Install the human friently impedance controller

• The human-friendly impedance controller

You can use the SIMPLE/main as example to start recording and executing motion using the SIMPLe trajectory representation.

Cite us

If you find this repository useful, please cite:

Franzese, G., de Souza Rosa, L., Verburg, T., Peternel, L. and Kober, J., 2023. Interactive imitation learning of bimanual movement primitives. IEEE/ASME Transactions on Mechatronics.