Weakly Supervised Discovery of Motion Styles for Compositional Robot Control
When a robot possesses more degrees of freedom than a task requires, multiple trajectories can achieve the same objective using distinct motion styles. Compositional robot control aims to preserve a selected style while simultaneously executing an independent task command, effectively balancing these potentially competing objectives. In this paper, we present CODES, a framework for compositional robot control that discovers a coherent style repertoire from diverse recordings and composes it with independent commands. First, motion retargeting maps the recordings to motions executable by the target robot; next, weakly supervised consensus encoding and density-based clustering identify styl...
| Authors | Heedo Woo, Antonio Marino, Eduardo Sebastián et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 October 2026 |
| Last updated at source | 15 October 2026 |
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