I read a paper from 2015, "Structural bootstrapping - A novel, generative mechanism for faster and more efficient acquisition of action-knowledge ", which introduces a concept called, "Structural bootstrapping with semantic event chains and dynamic movement primitives," which confused me a little bit.
According to my knowledge a robotarm is controlled by a PDDL-like planner. The PDDL file is a "qualitative physics engine" which can predict future events. The paper says the "qualitative physics engine" consists of dynamic movement primitive (DMP) which are learned from motion capture data.
My question is: How can a DMP be used for simulating physics?