Skip to content

Implementation of LMDS ("Incremental Motion Learning with Locally Modulated Dynamical Systems" ,Kronander, Khansari and Billard, Robotics and Autonomous Systems, 2015)

Branch: master
Go to file
Code

Latest commit

Files

Permalink
Failed to load latest commit information.
Type
Name
Latest commit message
Commit time
 
 
 
 
 
 
 
 
 
 
 
 

README.md

locally-modulated-ds

Definition of Locally Modulated Dynamical Systems, including an implementation using Gaussian Process Regression.

Publication:

Incremental Motion Learning with Locally Modulated Dynamical Systems
Kronander, Khansari and Billard
Robotics and Autonomous Systems, 2015

A Minimal example

#include "locally_modulated_ds/linear_velocity_fields.h
#include "locally_modulated_ds/gp_modulated_ds.h

int D = 3;
Mat A = -0.4*Mat::Identity(D,D)
Vec target(D);

LinearVelocityField straightline_field(target,A,0.3);
// to evaluate the system:
Vec currpos; // set its value from somewhere
Vec vel = straightline_field(currpos);

GaussianProcessModulatedDS gpmds_(straightline_field); // provide the original dynamics to the constructor
Eigen::Matrix<float, 3,1> training_pos, training_vel;

// set the hyperparams for GP
gpmds_.get_gpr()->SetHyperParams(0.1, 1.0, 0.0001);

// fill with training data, usually get from demonstrations
// then add them to gpmds
gpmds_.AddData(training_pos, training_vel) // add a single training point,

int nTrain = 100;
Eigen::Matrix<float, 3,nTrain> training_pos_batch, training_vel_batch;
// fill with training data, usually get from demonstrations
// then add to gpmds
gpmds_.AddDataBatch(training_pos_batch, training_vel_batch) // add batch training point

// you can now query the system for velocities
auto output_vel = gpmds_->GetOutput(test_pos);

Documentation

You can get some basic source code documentation by running doxygen.

sudo apt-get install doxygen
roscd locally_modulated_ds
doxygen Doxyfile

Build Status

About

Implementation of LMDS ("Incremental Motion Learning with Locally Modulated Dynamical Systems" ,Kronander, Khansari and Billard, Robotics and Autonomous Systems, 2015)

Resources

Releases

No releases published
You can’t perform that action at this time.