MOMO: A framework for seamless physical, verbal, and graphical robot skill learning and adaptation

arXiv:2604.20468 · cs.RO, cs.AI, cs.CL, cs.HC, cs.LG · Submitted 2026-04-22 · Read on arXiv

cs.RO, cs.AI, cs.CL, cs.HC, cs.LG

Submitted: 2026-04-22

Updated: 2026-08-27

Code: https://github.com/DLR-RM/IROSA

Terminology

• Adaptation — 57× in this paper · explained in 1 episode
• Digital Twin — 10× in this paper · explained in 5 episodes
• Human Intention Detection — 7× in this paper
• Fine-Tuning — 5× in this paper · explained in 5 episodes
• Knowledge Graph — 4× in this paper · explained in 7 episodes
• Human Factory Interface — 3× in this paper
• Ontology — 3× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Online Adaptation — 2× in this paper · explained in 3 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Unified Framework — 2× in this paper · explained in 5 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Multi-Agent System — 1× in this paper · explained in 6 episodes
• Principles of Knowledge Representation and Reasoning — 1× in this paper
• Redundancy — 1× in this paper · explained in 2 episodes
• Robotics Institute Germany — 1× in this paper
• State Management — 1× in this paper · explained in 3 episodes
• Technical University of Munich — 1× in this paper
• Verification — 1× in this paper · explained in 2 episodes

Sources

• A Unified Framework for Probabilistic Dynamic-, Trajectory- and Vision-based Virtual Fixtures
• Passive Variable Impedance For Shared Control

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