CONF Berio_RO-MAN_2025/IDIAP Image-driven robot drawing with rapid lognormal movements Berio, D. Clivaz, G. Stroh, M. Deussen, O. Plamondon, R. Calinon, Sylvain Leymarie, F. F. movement primitives robot drawing EXTERNAL http://publications.idiap.ch/attachments/papers/2025/Berio_RO-MAN_2025.pdf PUBLIC In Proc. IEEE Intl Symp. on Robot and Human Interactive Communication (Ro-Man) 2025 The democratization of cobots makes them accessible for physically producing paintings and drawings in collaboration with artists. At the same time, large deep-learning models are becoming increasingly common tools for a variety of complex image generation tasks. We present a method that combines these two advancements by enabling gradient-based optimization of natural human-like motions guided by cost functions defined in image space. To this end, we use the sigma-lognormal model of human hand/arm movements with an adaptation that enables its use in conjunction with a differentiable vector graphics (DiffVG) renderer. We demonstrate how this pipeline can be used to generate feasible trajectories for a robot by combining image-driven objectives with a minimum-time smoothing criterion. We demonstrate applications with generation and robotic reproduction of synthetic graffiti as well as image abstraction.