Memory Clustering using Computational Homology

This repository contains supplementary code to our IEEE Transactions on Robotics paper:

Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, and Sethu Vijayakumar. Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts. IEEE Transactions on Robotics, 2021.