Combining Dynamical Systems control and programming by demonstration for teaching discrete bimanual coordination tasks to a humanoid robot

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Constraints extraction from asymmetrical bimanual tasks and their use in coordinated behavior (2018, background): “In reference [9] the authors extract stable postures by analyzing the rate of change in the demonstrations.”
Intrinsic Motivation for Encouraging Synergistic Behavior (2020, background): “On the other hand, learning-based strategies for this task often leverage human demonstrations to circumvent the challenge of exploration (Zollner et al., 2004; Gribovskaya & Billard, 2008; Kroemer et al., 2015).”
Dual arm manipulation - A survey (2012, background): “In [105], a framework is presented that aims at teaching a bimanual coordination task to a robot.”
Efficient Bimanual Manipulation Using Learned Task Schemas (2019, methodology): “cal control settings [25], and often rely on hybrid force-position control strategies to guide both manipulators [26], [27]. These tasks have also been addressed via learning from demonstration [28], [29], [30]. In our work, we do not rely on demonstrations, and we are able to learn control policies”