Lemme, Andre: Bootstrapping movement primitives from complex trajectories. 2014
Inhalt
- Introduction
- Background and Related Work
- The idea of motion primitives from a biological perspective
- Motion primitive representation and learning in robotics
- Architectural perspective on motion skill learning
- Movement Primitives Imprinted in Neural Networks
- Learning vector field representations from sparse data
- Neurally imprinted vector fields for motion generation
- Implementation of asymptotic stability
- Design of data-driven Lyapunov candidates
- Impact of stability-constraints on the resulting dynamical systems
- Learning from kinesthetic teaching
- Discussion
- Concluding remarks
- Comparisons of Movements under Benchmark Conditions
- Design of a systematic comparison
- Benchmark system for human-like motion generation methods
- A dataset of human handwriting demonstrations
- Benchmark scenarios
- Evaluation and performance measures
- Statistical analysis of benchmark results
- Comparison with focus on NiVF
- Conclusion
- Adaptive Sequencing of Movement Primitives with Neural Networks
- Generation of complex movements from movement primitives
- Holistic neural learning architecture
- Learning methodology
- Composition of complex trajectories
- Discussion and perspectives
- Conclusion
- Creation and Refinement of Movement Primitives by Co-Articulation
- Notion of co-articulation
- Noise-induced learning process for Dynamic Movement Primitives
- Co-articulation in a via-point task
- Discussion
- Conclusion
- Perceiving known Movement Primitives in Complex Movements
- Using the agent's own movement capabilities for perception
- Methodology for decomposing and interpreting trajectories
- Decomposing complex trajectories with a movement primitive library
- Discussion
- Conclusion
- Bootstrapping of Movement Primitives
- Learning cycle of movement primitives
- Semi-supervised bootstrapping of movement primitives
- Learning process of the bootstrapping cycle from 2D trajectories
- Robotic application
- Concluding remarks
- Conclusion
- Appendix
- References