Task aware Dynamic Movement Primitives for failure detection and recovery in contact rich manipulation

arXiv:2609.23151 · eess.SY, cs.RO, cs.SY · Submitted 2026-09-19 · Read on arXiv

eess.SY, cs.RO, cs.SY

Submitted: 2026-09-19

Updated: 2026-09-19

Comments: 7 pages, 10 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Alignment — 23× in this paper · explained in 1 episode
• Accuracy — 7× in this paper · explained in 1 episode
• Peg in Hole — 4× in this paper
• Adaptability — 3× in this paper · explained in 1 episode
• Robustness — 3× in this paper · explained in 5 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• End Effector — 1× in this paper
• Feature Selection — 1× in this paper · explained in 4 episodes
• Imitation Learning (IL) — 1× in this paper · explained in 2 episodes
• Indian Institute of Technology Madras — 1× in this paper
• Utilizing Quadratic Discriminant Analysis — 1× in this paper

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