Locally Weighted CNMPs for Generating Flexible Action Sequences

descriptionPublicationkeyboard_double_arrow_right Conference object , Other literature type , Article 01 Jan 2020Publisher:ZenodoJournal:Winter Workshop on Mechanism of Brain and MindFunded by:EC | IMAGINE

Authors: Ahmetoglu, Alper; Seker, Yunus; Oztop, Erhan; Asada, Minoru; Ugur, Emre;

doi: 10.5281/zenodo.4726672 , 10.5281/zenodo.4726673

Locally Weighted CNMPs for Generating Flexible Action Sequences

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Abstract

This is a sequel work which introduces locality prior to CNMPs to increase its representational power. Instead of using the average operator for the aggregation, we use weights that are generated by a Gaussian that is defined by the query point. This way, we can generate trajectories by combining local primitives. We call this model locally weighted CNMPs.

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Keywords

Deep Learning, Learning From Demonstration

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