Probabilistic Movement Primitives Part 4: Conditioning

The modulation of via-points, final positions, and velocities is carried out using conditioning so that MP can adapt to new situations. In order to condition the MP to reach a certain state at any time point , a desired observation is added to the model. Applying Bayes theorem, where state vector defines the desired position and velocity at a time and defines the accuracy of the desired observation. The conditional distribution is Gaussian for a Gaussian trajectory distribution, whose mean and variance are given by, where . Let's code via_points = [(0.2, .02),...