Publication Details

SELECT * FROM publications WHERE Record_Number=10777
Reference TypeThesis
Author(s)Mundo, J.
Year2014
TitleExtracting Low-Dimensional Control Variables for Movement Primitives
Journal/Conference/Book TitleMaster Thesis
KeywordsCoDyCo
AbstractIn robotics we often want to solve a multitude of different, but related tasks. Movement primitives (MPs) provide a powerful framework for data driven movement generation that has been successfully applied for learning from demonstrations and robot reinforcement learning. As the parameters of the primitives are typically high dimensional, a common practice for the generalization of movement primitives to new tasks is to adapt only a small set of control variables, also called meta parameters, of the primitive. Yet, for most MP representations, the encoding of these control variables is pre-coded in the representation and can not be adapted to the considered tasks. In this thesis, we want to learn the encoding of task-specific control variables also from data instead of relying on fixed meta-parameter representations. We use hierarchical Bayesian models (HBMs) to estimate a low dimensional latent variable model for probabilistic movement primitives (ProMPs), which is a recent movement primitive representation. We show on two real robot datasets that ProMPs based on HBMs outperform standard ProMPs in terms of generalization and learning from a small amount of data and also allows for an intuitive analysis of the movement. We also extend our HBM to a mixture model, such that we can model different movement types in the same dataset.
Link to PDFhttp://www.ausy.informatik.tu-darmstadt.de/uploads/Theses/Mundo_MscThesis_2014.pdf

  

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