Author

Rafid Saif

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Preprint Oct 2026

Imitation Learning via Discrete and Rhythmic Primitive Composition

This work proposes Neural Dynamic Composition (NDC), a supervised framework to compose Dynamic Movement Primitives (DMPs) using only raw trajectories for supervision, given a single example of each primitive.

Rafid Saif, A. Ijspeert, Hsiu-Chin Lin · 0 citations