All articles in Robotics (ISSN 2218-6581) Vol 12, Issue 6, are now freely available to access, read and download: https://brnw.ch/21wGcIq COVER STORY: This work by authors at Università Campus Bio-Medico di Roma proposes a “Learning by Demonstration” framework based on Dynamic Movement Primitives (DMPs) that could be effectively adopted to plan complex activities in robotics. The approach uses Lie theory and integrates the exponential and logarithmic map into the DMP equations, which converts an