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Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation

Recent advancements in machine learning research have given rise to recurrent neural networks that are able to synthesize high-dimensional motion sequences over long time horizons. By leveraging these sequence learning techniques, we introduce a state transition model (STM) that is able to learn a variety of complex motion sequences in joint position space. Given few demonstrations from a motion planner, we show in real robot experiments that the learned STM can quickly generalize to unseen tasks. Our approach enables the robot to accomplish complex behaviors from high-level instructions that would require laborious hand-engineered sequencing of trajectories with traditional motion planners. 
A video of our experiments is available at this https URL