Commit 162b66a9 by Sylvain Calinon

Update to initial version of semi-tied GMM

parent 968677b4
......@@ -44,8 +44,6 @@ addpath('./m_fcts/');
model.nbStates = 3; %Number of states in the GMM
model.nbVar = 3; %Number of variables [x1,x2,x3]
model.nbSamples = 5; %Number of demonstrations
model.params_Bsf = 5E-2; %Initial variance of B in semi-tied GMM
model.params_alpha = 1.0; % tying factor for the basis functions
nbData = 300; %Length of each trajectory
......
......@@ -51,7 +51,7 @@ if ~isfield(model,'params_diagRegFact')
model.params_diagRegFact = 1E-6; %Regularization term is optional
end
if ~isfield(model,'params_Bsf')
model.params_Bsf = 1E-1;
model.params_Bsf = 5E-2;
end
if ~isfield(model,'params_nbVariationSteps')
model.params_nbVariationSteps = 50;
......
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