SPECTRA: Context-Conditioned Spectral Movement Primitives for Robot Skill Generalization

arXiv:2607.06978v1 Announce Type: new Abstract: Robot imitation learning for manipulation should preserve demonstrated task geometry while producing dynamically admissible robot motions. Existing pipelines often learn task-dependent trajectories and impose execution limits afterward through filtering, smoothing, clipping, or time scaling, which may distort task-critical end-effector paths. We propose the Spectral Movement Primitive (SMP), a frequency-domain imitation learning framework that coup...