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rli
pbdlib-matlab
Commits
d79a21c0
Commit
d79a21c0
authored
Aug 28, 2014
by
Sylvain Calinon
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misc minor updates
parent
474f7fad
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2 changed files
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2 additions
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5 deletions
+2
-5
demo_DSGMR01.m
demo_DSGMR01.m
+2
-4
init_tensorGMM_timeBased.m
init_tensorGMM_timeBased.m
+0
-1
No files found.
demo_DSGMR01.m
View file @
d79a21c0
...
@@ -29,11 +29,9 @@ model.nbStates = 3; %Number of Gaussians in the GMM
...
@@ -29,11 +29,9 @@ model.nbStates = 3; %Number of Gaussians in the GMM
model
.
nbFrames
=
2
;
%Number of candidate frames of reference
model
.
nbFrames
=
2
;
%Number of candidate frames of reference
model
.
nbVar
=
3
;
%Dimension of the datapoints in the dataset (here: t,x1,x2)
model
.
nbVar
=
3
;
%Dimension of the datapoints in the dataset (here: t,x1,x2)
model
.
dt
=
0.01
;
%Time step
model
.
dt
=
0.01
;
%Time step
model
.
kP
=
100
;
%Stiffness gain
(required only if LQR is not used for reproduction)
model
.
kP
=
100
;
%Stiffness gain
model
.
kV
=
(
2
*
model
.
kP
)
^.
5
;
%Damping gain
(required only if LQR is not used for reproduction)
model
.
kV
=
(
2
*
model
.
kP
)
^.
5
;
%Damping gain
nbRepros
=
8
;
%Number of reproductions with new situations randomly generated
nbRepros
=
8
;
%Number of reproductions with new situations randomly generated
rFactor
=
1E-1
;
%Weighting term for the minimization of control commands in LQR
%% Load 3rd order tensor data
%% Load 3rd order tensor data
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
...
...
init_tensorGMM_timeBased.m
View file @
d79a21c0
function
model
=
init_tensorGMM_timeBased
(
Data
,
model
)
function
model
=
init_tensorGMM_timeBased
(
Data
,
model
)
% Author: Sylvain Calinon, 2014
% Author: Sylvain Calinon, 2014
% http://programming-by-demonstration.org/SylvainCalinon
% http://programming-by-demonstration.org/SylvainCalinon
%
diagRegularizationFactor
=
1E-4
;
diagRegularizationFactor
=
1E-4
;
...
...
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