One-Shot Learning for Double-Shot Latte Art: Adapting Cobot Pouring Skills with Dynamic Movement Primitives

Abstract:Latte art is a complex task requiring dexterity and precision, making it a challenging and commercially relevant task. A one-shot learning system is employed in which a single barista demonstration is segmented into five functionally distinct phases, each encoded as an independent Cartesian Dynamic Movement Primitive (CDMP) with its own parameters. Against a single-CDMP baseline, per-phase encoding reduces transition endpoint error by 3.2-4.5 times and art-stroke shape error by 2.7 times, reproducing jug tilt to below 1 degree RMS in the pouring phases. The learnt pour scales from a 280mL to a 400mL cup through a single spatial offset and a scaled recipe, with no re-demonstration. The phase-based CDMP approach generalises beyond latte art to any demonstration task whose phases have distinct spatial or temporal requirements whilst demonstrating the ability to adapt reproductions to suit different task requirements.

10 pages. Submitted to ACRA 2026

Robotics (cs.RO)

arXiv:2610.16179 [cs.RO]

(or arXiv:2610.16179v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.16179 Focus to learn more arXiv-issued DOI via DataCite

latte_art_cdmp_compressed.mp4

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