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Gaussian Process-Based Robot Skill Learning and Adaptation Framework

A study published in IEEE RA-L 2026 and presented at IROS 2026 proposes a robot skill adaptation framework based on Gaussian processes (GPs) and sparse via-points, which preserves the kinematic characteristics of skills by using first- and second-order analytical derivatives of trajectory poses. The framework includes three adaptation methods: an optimization agent, a behavior cloning agent, and a reinforcement learning (RL) agent. In simulation and real-world evaluations on three tasks—opening a drawer, pushing a cube, and manipulating a horizontal bar—it outperformed all baseline methods in success rate and demonstrated high cosine similarity and low velocity magnitude error.

Part of the event: Proposing a Gaussian Process-Based Robot Skill Adaptation Framework

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