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A probabilistic interpretation of model predictive control is presented, enabling extensions to multiple coordinate systems. The resulting controller follows a minimal intervention principle, by learning and retrieving movements through the coordination of several frames of reference. When combined with a generative model, the approach can be used in various human-robot applications that are discussed in the paper.
Dario Floreano, Valentin Wüest, Davide Scaramuzza
Aude Billard, Bernardo Fichera