| ชื่อเรื่อง | : | Behaviour Generation in Humanoids by Learning Potential-based Policies from Constrained Motion |
| นักวิจัย | : | Howard, Matthew , Klanke, Stefan , Gienger, Michael , Goerick, Christian , Vijayakumar, Sethu |
| คำค้น | : | imitation learning , constrained motion , kinematics , dynamics |
| หน่วยงาน | : | Edinburgh Research Archive, United Kingdom |
| ผู้ร่วมงาน | : | - |
| ปีพิมพ์ | : | 2551 |
| อ้างอิง | : | 1176-2322 , http://www.informaworld.com/smpp/content~db=all?content=10.1080/11762320902789830 , http://hdl.handle.net/1842/3695 , 10.1080/11762320902789830 , 1754-2103 |
| ที่มา | : | - |
| ความเชี่ยวชาญ | : | - |
| ความสัมพันธ์ | : | - |
| ขอบเขตของเนื้อหา | : | - |
| บทคัดย่อ/คำอธิบาย | : | Movement generation that is consistent with observed or demonstrated behaviour is an efficient way to seed movement planning in complex, high-dimensionalmovement systems like humanoid robots.We present a method for learning potentialbased policies from constrained motion data. In contrast to previous approaches to direct policy learning, our method can combine observations from a variety of contexts where different constraints are in force, to learn the underlying unconstrained policy in form of its potential function. This allows us to generalise and predict behaviour where novel constraints apply. We demonstrate our approach on systems of varying complexity, including kinematic data from the ASIMO humanoid robot with 22 degrees of freedom. |
| บรรณานุกรม | : |
Howard, Matthew , Klanke, Stefan , Gienger, Michael , Goerick, Christian , Vijayakumar, Sethu . (2551). Behaviour Generation in Humanoids by Learning Potential-based Policies from Constrained Motion.
กรุงเทพมหานคร : Edinburgh Research Archive, United Kingdom . Howard, Matthew , Klanke, Stefan , Gienger, Michael , Goerick, Christian , Vijayakumar, Sethu . 2551. "Behaviour Generation in Humanoids by Learning Potential-based Policies from Constrained Motion".
กรุงเทพมหานคร : Edinburgh Research Archive, United Kingdom . Howard, Matthew , Klanke, Stefan , Gienger, Michael , Goerick, Christian , Vijayakumar, Sethu . "Behaviour Generation in Humanoids by Learning Potential-based Policies from Constrained Motion."
กรุงเทพมหานคร : Edinburgh Research Archive, United Kingdom , 2551. Print. Howard, Matthew , Klanke, Stefan , Gienger, Michael , Goerick, Christian , Vijayakumar, Sethu . Behaviour Generation in Humanoids by Learning Potential-based Policies from Constrained Motion. กรุงเทพมหานคร : Edinburgh Research Archive, United Kingdom ; 2551.
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