Ashwin Dani

2 accepted papers

2017

Learning Partially Contracting Dynamical Systems from Demonstrations

Harish Ravichandar, Iman Salehi, Ashwin Dani

CoRL 2017

An algorithm for learning the dynamics of point-to-point motions from demonstrations using an autonomous nonlinear dynamical system, named contracting dynamical system primitives (CDSP), is presented. The motion dynamics are approximated using a Gaussian mixture model (GMM) and its parameters are le

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2015

Human intention inference and motion modeling using approximate E-M with online learning

Harish Chaandar Ravichandar, Ashwin Dani

IROS 2015poster

In this paper, we present an algorithm to infer the intent of a human operator's arm movements based on the observations from a Microsoft Kinect sensor. Intentions are modeled as goal locations in 3-dimensional (3D) space where the human is intending to reach. Human intention inference is a critical…

Cited by 25 Source ↗Scholar ↗