This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamical systems. The approach extends prior methods by achieving parallel and sequential combinations of both discrete and rhythmic movements, while enabling independent modulation of each movement. This modular framework enables a divide-and-conquer strategy to simplify the programming of complex robot motion planning. Simulation examples illustrate the flexibility and versatility of the framework, highlighting its potential to address diverse challenges in robot motion planning.

Motor primitives are fundamental building blocks of a controller which enable dynamic robot behavior with minimal high-level intervention. By treating motor primitives as basic "modules," different modules can be sequenced or superimposed to generate a rich repertoire of motor behavior. In robotics, two distinct approaches have been proposed: Dynamic Movement Primitives (DMPs) and Elementary Dynamic Actions (EDAs). While both approaches instantiate similar ideas, significant differences also exist. This paper attempts to clarify the distinction and provide a unifying view by delineating the similarities and differences between DMPs and EDAs. We provide eight robot control examples, including sequencing or superimposing movements, managing kinematic redundancy and singularity, obstacle avoidance, and managing physical interaction. We show that the two approaches clearly diverge in their implementation. We also discuss how DMPs and EDAs might be combined to get the best of both approaches. With this detailed comparison, we enable researchers to make informed decisions to select the most suitable approach for specific robot tasks and applications.

Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying self-recorded motion macros could greatly facilitate repetitive tasks. Dynamic Movement Primitives (DMP) are a powerful method for skill learning via teleoperation. For this use case, however, they need simple heuristics to specify where to start, stop, and parameterize a skill without a background in computer science and academic sensor setups for autonomous perception. To achieve this goal, this paper provides the concept of local, global, and hybrid skills that form a modular basis for composing single-handed tasks of daily living. These skills are specified implicitly and can easily be programmed by users themselves, requiring only their basic robotic manipulator. The paper contributes all details for robot-agnostic implementations. Experiments validate the developed methods for exemplary tasks, such as scratching an itchy spot, sorting objects on a desk, and feeding a piggy bank with coins. The paper is accompanied by an open-source implementation at https://github.com/fzi-forschungszentrum-informatik/ArNe

The maximum entropy (ME) model of a knowledge base R consisting of relational probabilistic conditionals can be defined referring to the set of all ground instances of the conditionals. The logic FO-PCL employs the notion of parametric uniformity for avoiding the full grounding of R. We present an implementation of a rule system transforming R into a knowledge base that is parametrically uniform and has the same ME model, simplifying the ME model computation. The implementation provides different execution and evaluation modes, including the generation of all possible solutions.

Scope This workshop reviewed and classified the various models which have emerged from the general concept of selective attention and context dependency, and sought to identify their commonalities. It was concluded that the motivation and mechanism of these functional models are "efficiency" and ''factoring'', respectively. The workshop focused on computational models of selective attention and context dependency within the realm of neural networks. We treated only ''functional'' models; computational models of biological neural systems, and symbolic or rule-based systems were omitted from the discussion. Presentations Thomas H. Hildebrandt presented the results of his recent survey of the literature on functional models of selective attention and context dependency.

Scope This workshop reviewed and classified the various models which have emerged from the general concept of selective attention and context dependency, and sought to identify their commonalities. It was concluded that the motivation and mechanism of these functional models are "efficiency" and ''factoring'', respectively. The workshop focused on computational models of selective attention and context dependency within the realm of neural networks. We treated only ''functional'' models; computational models of biological neural systems, and symbolic or rule-based systems were omitted from the discussion. Presentations Thomas H. Hildebrandt presented the results of his recent survey of the literature on functional models of selective attention and context dependency.

Scope This workshop reviewed and classified the various models which have emerged from the general concept of selective attention and context dependency, and sought to identify their commonalities. It was concluded that the motivation and mechanism ofthese functional models are "efficiency" and ''factoring'', respectively. The workshop focused on computational models of selective attention and context dependency withinthe realm of neural networks. We treated only ''functional'' models; computational models of biological neural systems, and symbolic or rule-based systems were omitted from the discussion. Presentations Thomas H. Hildebrandt presented the results of his recent survey of the literature onfunctional models of selective attention and context dependency.