Robot

Types of exploration perturbations with Gaussian noise, $\eta$, for a simple Archimedian spiral. Applied on a translational DMP policy (purple - A), shown as equation above. Perturbing directly in task space (green - D) results in local exploration that is important for contact-rich manipulation. In contrast, perturbing the phase-modulated coupling term, $C_t$ (blue - B) or the parameters $\omega$ of the forcing term, $f_{\omega}$ (orange - C) results in locally smooth trajectories. Not perturbing the DMP is depicted in purple.