# Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives

arXiv: https://arxiv.org/abs/1905.11130 · HTML: https://mlsanity.com/paper/1905.11130/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 May 2019.

## Built on by (most cited first, 2 of 2)

- [Physical Interaction as Communication: Learning Robot Objectives Online from Human Corrections](https://mlsanity.com/paper/2107.02349/) (2021)
- [Enhancing Goal Inference via Correction Timing](https://mlsanity.com/paper/2602.18603/) (2026)

## Abstract (arXiv)

The concept of dynamical movement primitives (DMPs) has become popular for modeling of motion, commonly applied to robots. This paper presents a framework that allows a robot operator to adjust DMPs in an intuitive way. Given a generated trajectory with a faulty last part, the operator can use lead-through programming to demonstrate a corrective trajectory. A modified DMP is formed, based on the first part of the faulty trajectory and the last part of the corrective one. A real-time application is presented and verified experimentally.