Screw Geometry Meets Bandits: Incremental Acquisition of Demonstrations to Generate Manipulation Plans

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arXiv:2410.18275v2 Announce Type: replace-cross Abstract: In this paper, we study the problem of methodically obtaining a sufficient set of kinesthetic demonstrations, one at a time, such that a robot can be confident of its ability to perform a complex manipulation task in a given region of its workspace. Although programming by demonstration has been an active area of research, the problems of checking whether a set of demonstrations is sufficient and systematically seeking additional demonstr