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rli
pbdlibmatlab
Commits
2cb8784d
Commit
2cb8784d
authored
Sep 16, 2015
by
Sylvain Calinon
Browse files
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Homogenization of headers in m_fcts folder
parent
b738860a
Changes
38
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Showing
38 changed files
with
1316 additions
and
414 deletions
+1316
414
demo_stdPGMM01.m
demo_stdPGMM01.m
+13
2
m_fcts/DTW.m
m_fcts/DTW.m
+42
18
m_fcts/EM_GMM.m
m_fcts/EM_GMM.m
+35
10
m_fcts/EM_HDGMM.m
m_fcts/EM_HDGMM.m
+48
9
m_fcts/EM_MFA.m
m_fcts/EM_MFA.m
+42
13
m_fcts/EM_MPPCA.m
m_fcts/EM_MPPCA.m
+41
12
m_fcts/EM_TPGMM.m
m_fcts/EM_TPGMM.m
+33
23
m_fcts/EM_stdPGMM.m
m_fcts/EM_stdPGMM.m
+33
25
m_fcts/EM_tensorGMM.m
m_fcts/EM_tensorGMM.m
+33
23
m_fcts/EM_tensorHDGMM.m
m_fcts/EM_tensorHDGMM.m
+39
14
m_fcts/EM_tensorMFA.m
m_fcts/EM_tensorMFA.m
+42
16
m_fcts/EM_tensorMPPCA.m
m_fcts/EM_tensorMPPCA.m
+43
18
m_fcts/GMR.m
m_fcts/GMR.m
+31
21
m_fcts/GPR.m
m_fcts/GPR.m
+32
5
m_fcts/constructPHI.m
m_fcts/constructPHI.m
+36
9
m_fcts/estimateAttractorPath.m
m_fcts/estimateAttractorPath.m
+29
16
m_fcts/gaussPDF.m
m_fcts/gaussPDF.m
+29
4
m_fcts/init_GMM_kmeans.m
m_fcts/init_GMM_kmeans.m
+31
12
m_fcts/init_GMM_timeBased.m
m_fcts/init_GMM_timeBased.m
+33
15
m_fcts/init_TPGMM_kmeans.m
m_fcts/init_TPGMM_kmeans.m
+35
12
m_fcts/init_TPGMM_timeBased.m
m_fcts/init_TPGMM_timeBased.m
+32
4
m_fcts/init_tensorGMM_kmeans.m
m_fcts/init_tensorGMM_kmeans.m
+35
12
m_fcts/init_tensorGMM_timeBased.m
m_fcts/init_tensorGMM_timeBased.m
+32
4
m_fcts/kmeansClustering.m
m_fcts/kmeansClustering.m
+31
6
m_fcts/plot2DArrow.m
m_fcts/plot2DArrow.m
+32
2
m_fcts/plotArm.m
m_fcts/plotArm.m
+31
1
m_fcts/plotArmBasis.m
m_fcts/plotArmBasis.m
+33
3
m_fcts/plotArmLink.m
m_fcts/plotArmLink.m
+34
5
m_fcts/plotBimanualRobot.m
m_fcts/plotBimanualRobot.m
+45
16
m_fcts/plotGMM.m
m_fcts/plotGMM.m
+29
2
m_fcts/productTPGMM.m
m_fcts/productTPGMM.m
+34
6
m_fcts/productTPGMM0.m
m_fcts/productTPGMM0.m
+32
3
m_fcts/reproduction_DS.m
m_fcts/reproduction_DS.m
+31
10
m_fcts/reproduction_LQR_finiteHorizon.m
m_fcts/reproduction_LQR_finiteHorizon.m
+38
15
m_fcts/reproduction_LQR_infiniteHorizon.m
m_fcts/reproduction_LQR_infiniteHorizon.m
+35
13
m_fcts/reproduction_TPGMM.m
m_fcts/reproduction_TPGMM.m
+28
16
m_fcts/solveAlgebraicRiccati_Schur.m
m_fcts/solveAlgebraicRiccati_Schur.m
+46
13
m_fcts/solveAlgebraicRiccati_eig.m
m_fcts/solveAlgebraicRiccati_eig.m
+38
6
No files found.
demo_stdPGMM01.m
View file @
2cb8784d
function
demo_stdPGMM01
% Parametric Gaussian mixture model (PGMM) used for task adaptation,
% with DSGMR employed to retrieve continuous movements.
% Parametric Gaussian mixture model (PGMM) used for task adaptation, with DSGMR employed
% to retrieve continuous movements. The approach is inspired by Wilson and Bobick (1999),
% with an implementation applied to the special case of Gaussian mixture models (GMM).
%
% Writing code takes time. Polishing it and making it available to others takes longer!
% If some parts of the code were useful for your research of for a better understanding
...
...
@@ 13,6 +14,16 @@ function demo_stdPGMM01
% journal="Intelligent Service Robotics",
% year="2015"
% }
%
% @article{Wilson99,
% author="Wilson, A. D. and Bobick, A. F.",
% title="Parametric Hidden {M}arkov Models for Gesture Recognition",
% journal="{IEEE} Trans. on Pattern Analysis and Machine Intelligence",
% year="1999",
% volume="21",
% number="9",
% pages="884900"
% }
%
% Copyright (c) 2015 Idiap Research Institute, http://idiap.ch/
% Written by Sylvain Calinon, http://calinon.ch/
...
...
m_fcts/DTW.m
View file @
2cb8784d
function
[
x_new
,
y_new
,
p
]
=
DTW
(
x
,
y
,
w
)
%Trajectory realignment through dynamic time warping
%Sylvain Calinon, 2015
function
[
x2
,
y2
,
p
]
=
DTW
(
x
,
y
,
w
)
% Trajectory realignment through dynamic time warping.
%
% Writing code takes time. Polishing it and making it available to others takes longer!
% If some parts of the code were useful for your research of for a better understanding
% of the algorithms, please reward the authors by citing the related publications,
% and consider making your own research available in this way.
%
% @article{Calinon15,
% author="Calinon, S.",
% title="A Tutorial on TaskParameterized Movement Learning and Retrieval",
% journal="Intelligent Service Robotics",
% year="2015"
% }
%
% Copyright (c) 2015 Idiap Research Institute, http://idiap.ch/
% Written by Sylvain Calinon, http://calinon.ch/
%
% This file is part of PbDlib, http://www.idiap.ch/software/pbdlib/
%
% PbDlib is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License version 3 as
% published by the Free Software Foundation.
%
% PbDlib is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with PbDlib. If not, see <http://www.gnu.org/licenses/>.
if
nargin
<
3
w
=
Inf
;
end
n
x
=
size
(
x
,
2
);
n
y
=
size
(
y
,
2
);
s
x
=
size
(
x
,
2
);
s
y
=
size
(
y
,
2
);
w
=
max
(
w
,
abs
(
nx

n
y
));
w
=
max
(
w
,
abs
(
sx

s
y
));
%Initialization
D
=
ones
(
nx
+
1
,
n
y
+
1
)
*
Inf
;
D
=
ones
(
sx
+
1
,
s
y
+
1
)
*
Inf
;
D
(
1
,
1
)
=
0
;
%DP loop
for
i
=
1
:
nx
for
j
=
max
(
i

w
,
1
):
min
(
i
+
w
,
n
y
)
for
j
=
max
(
i

w
,
1
):
min
(
i
+
w
,
s
y
)
D
(
i
+
1
,
j
+
1
)
=
norm
(
x
(:,
i
)

y
(:,
j
))
+
min
([
D
(
i
,
j
+
1
),
D
(
i
+
1
,
j
),
D
(
i
,
j
)]);
end
end
i
=
nx
+
1
;
j
=
n
y
+
1
;
i
=
sx
+
1
;
j
=
s
y
+
1
;
p
=
[];
while
i
>
1
&&
j
>
1
[
~
,
id
]
=
min
([
D
(
i
,
j

1
),
D
(
i

1
,
j
),
D
(
i

1
,
j

1
)]);
...
...
@@ 39,14 +68,9 @@ end
p
=
fliplr
(
p
(:,
1
:
end

1
)

1
);
x
_new
=
x
(:,
p
(
1
,:));
y
_new
=
y
(:,
p
(
2
,:));
x
2
=
x
(:,
p
(
1
,:));
y
2
=
y
(:,
p
(
2
,:));
%Resampling
x_new
=
spline
(
1
:
size
(
x_new
,
2
),
x_new
,
linspace
(
1
,
size
(
x_new
,
2
),
nx
));
y_new
=
spline
(
1
:
size
(
y_new
,
2
),
y_new
,
linspace
(
1
,
size
(
y_new
,
2
),
nx
));
x2
=
spline
(
1
:
size
(
x2
,
2
),
x2
,
linspace
(
1
,
size
(
x2
,
2
),
sx
));
y2
=
spline
(
1
:
size
(
y2
,
2
),
y2
,
linspace
(
1
,
size
(
y2
,
2
),
sx
));
m_fcts/EM_GMM.m
View file @
2cb8784d
function
[
model
,
GAMMA2
,
LL
]
=
EM_GMM
(
Data
,
model
)
% Training of a Gaussian mixture model (GMM) with an expectationmaximization (EM) algorithm.
%
% Author: Sylvain Calinon, 2014
% http://programmingbydemonstration.org/SylvainCalinon
% Writing code takes time. Polishing it and making it available to others takes longer!
% If some parts of the code were useful for your research of for a better understanding
% of the algorithms, please reward the authors by citing the related publications,
% and consider making your own research available in this way.
%
% @article{Calinon15,
% author="Calinon, S.",
% title="A Tutorial on TaskParameterized Movement Learning and Retrieval",
% journal="Intelligent Service Robotics",
% year="2015"
% }
%
% Copyright (c) 2015 Idiap Research Institute, http://idiap.ch/
% Written by Sylvain Calinon, http://calinon.ch/
%
% This file is part of PbDlib, http://www.idiap.ch/software/pbdlib/
%
% PbDlib is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License version 3 as
% published by the Free Software Foundation.
%
% PbDlib is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with PbDlib. If not, see <http://www.gnu.org/licenses/>.
%Parameters of the EM algorithm
nbMinSteps
=
5
;
%Minimum number of iterations allowed
...
...
@@ 10,8 +37,8 @@ nbMaxSteps = 100; %Maximum number of iterations allowed
maxDiffLL
=
1E4
;
%Likelihood increase threshold to stop the algorithm
nbData
=
size
(
Data
,
2
);
%diagRegularizationFactor = 1E6; %Regularization term is optional
, see Eq. (2.1.2) in doc/TechnicalReport.pdf
diagRegularizationFactor
=
1E4
;
%Regularization term is optional
, see Eq. (2.1.2) in doc/TechnicalReport.pdf
%diagRegularizationFactor = 1E6; %Regularization term is optional
diagRegularizationFactor
=
1E4
;
%Regularization term is optional
for
nbIter
=
1
:
nbMaxSteps
fprintf
(
'.'
);
...
...
@@ 22,13 +49,13 @@ for nbIter=1:nbMaxSteps
%Mstep
for
i
=
1
:
model
.
nbStates
%Update Priors
, see Eq. (2.0.6) in doc/TechnicalReport.pdf
%Update Priors
model
.
Priors
(
i
)
=
sum
(
GAMMA
(
i
,:))
/
nbData
;
%Update Mu
, see Eq. (2.0.7) in doc/TechnicalReport.pdf
%Update Mu
model
.
Mu
(:,
i
)
=
Data
*
GAMMA2
(
i
,:)
'
;
%Update Sigma
, see Eq. (2.0.8) in doc/TechnicalReport.pdf (regularization term is optional, see Eq. (2.1.2))
%Update Sigma
DataTmp
=
Data

repmat
(
model
.
Mu
(:,
i
),
1
,
nbData
);
model
.
Sigma
(:,:,
i
)
=
DataTmp
*
diag
(
GAMMA2
(
i
,:))
*
DataTmp
'
+
eye
(
size
(
Data
,
1
))
*
diagRegularizationFactor
;
end
...
...
@@ 46,9 +73,9 @@ end
disp
([
'The maximum number of '
num2str
(
nbMaxSteps
)
' EM iterations has been reached.'
]);
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function
[
L
,
GAMMA
]
=
computeGamma
(
Data
,
model
)
%See Eq. (2.0.5) in doc/TechnicalReport.pdf
L
=
zeros
(
model
.
nbStates
,
size
(
Data
,
2
));
for
i
=
1
:
model
.
nbStates
L
(
i
,:)
=
model
.
Priors
(
i
)
*
gaussPDF
(
Data
,
model
.
Mu
(:,
i
),
model
.
Sigma
(:,:,
i
));
...
...
@@ 56,5 +83,3 @@ end
GAMMA
=
L
.
/
repmat
(
sum
(
L
,
1
)
+
realmin
,
model
.
nbStates
,
1
);
end
m_fcts/EM_HDGMM.m
View file @
2cb8784d
function
[
model
,
GAMMA2
]
=
EM_HDGMM
(
Data
,
model
)
%EM for High Dimensional Data Clustering (HDDC, HDGMM) model proposed by Bouveyron (2007)
%Sylvain Calinon, 2015
% EM for High Dimensional Data Clustering (HDDC, HDGMM) model proposed by Bouveyron (2007).
%
% Writing code takes time. Polishing it and making it available to others takes longer!
% If some parts of the code were useful for your research of for a better understanding
% of the algorithms, please reward the authors by citing the related publications,
% and consider making your own research available in this way.
%
% @article{Calinon15,
% author="Calinon, S.",
% title="A Tutorial on TaskParameterized Movement Learning and Retrieval",
% journal="Intelligent Service Robotics",
% year="2015"
% }
%
% @article{Bouveyron07,
% author = "Bouveyron, C. and Girard, S. and Schmid, C.",
% title = "Highdimensional data clustering",
% journal = "Computational Statistics and Data Analysis",
% year = "2007",
% volume = "52",
% number = "1",
% pages = "502519"
% }
%
% Copyright (c) 2015 Idiap Research Institute, http://idiap.ch/
% Written by Sylvain Calinon, http://calinon.ch/
%
% This file is part of PbDlib, http://www.idiap.ch/software/pbdlib/
%
% PbDlib is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License version 3 as
% published by the Free Software Foundation.
%
% PbDlib is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with PbDlib. If not, see <http://www.gnu.org/licenses/>.
%Parameters of the EM iterations
nbMinSteps
=
5
;
%Minimum number of iterations allowed
...
...
@@ 8,7 +47,7 @@ nbMaxSteps = 100; %Maximum number of iterations allowed
maxDiffLL
=
1E4
;
%Likelihood increase threshold to stop the algorithm
nbData
=
size
(
Data
,
2
);
diagRegularizationFactor
=
1E8
;
%Regularization term is optional
, see Eq. (2.1.2) in doc/TechnicalReport.pdf
diagRegularizationFactor
=
1E8
;
%Regularization term is optional
%EM loop
for
nbIter
=
1
:
nbMaxSteps
...
...
@@ 19,19 +58,19 @@ for nbIter=1:nbMaxSteps
GAMMA2
=
GAMMA
.
/
repmat
(
sum
(
GAMMA
,
2
),
1
,
nbData
);
%Mstep
%Update Priors
, see Eq. (2.0.6) in doc/TechnicalReport.pdf
%Update Priors
model
.
Priors
=
sum
(
GAMMA
,
2
)/
nbData
;
%Update Mu
, see Eq. (2.0.7) in doc/TechnicalReport.pdf
%Update Mu
model
.
Mu
=
Data
*
GAMMA2
'
;
%Update factor analyser params
%Update factor analyser param
eter
s
for
i
=
1
:
model
.
nbStates
%Compute covariance
DataTmp
=
Data

repmat
(
model
.
Mu
(:,
i
),
1
,
nbData
);
S
(:,:,
i
)
=
DataTmp
*
diag
(
GAMMA2
(
i
,:))
*
DataTmp
'
+
eye
(
model
.
nbVar
)
*
diagRegularizationFactor
;
%HDGMM update
, see Eq. (2.2.2) in doc/TechnicalReport.pdf
%HDGMM update
[
V
,
D
]
=
eig
(
S
(:,:,
i
));
[
~
,
id
]
=
sort
(
diag
(
D
),
'descend'
);
% model.D(:,:,i) = D(id(1:model.nbFA), id(1:model.nbFA));
...
...
@@ 40,7 +79,7 @@ for nbIter=1:nbMaxSteps
model
.
D
(:,:,
i
)
=
diag
([
d
(
id
(
1
:
model
.
nbFA
));
repmat
(
mean
(
d
(
id
(
model
.
nbFA
+
1
:
end
))),
model
.
nbVar

model
.
nbFA
,
1
)]);
model
.
V
(:,:,
i
)
=
V
(:,
id
);
%Reconstruct Sigma
, see Eq. (2.2.1) in doc/TechnicalReport.pdf
%Reconstruct Sigma
model
.
Sigma
(:,:,
i
)
=
model
.
V
(:,:,
i
)
*
model
.
D
(:,:,
i
)
*
model
.
V
(:,:,
i
)
'
+
eye
(
model
.
nbVar
)
*
diagRegularizationFactor
;
end
...
...
@@ 57,9 +96,9 @@ end
disp
([
'The maximum number of '
num2str
(
nbMaxSteps
)
' EM iterations has been reached.'
]);
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function
[
Lik
,
GAMMA
]
=
computeGamma
(
Data
,
model
)
%See Eq. (2.0.5) in doc/TechnicalReport.pdf
Lik
=
zeros
(
model
.
nbStates
,
size
(
Data
,
2
));
for
i
=
1
:
model
.
nbStates
Lik
(
i
,:)
=
model
.
Priors
(
i
)
*
gaussPDF
(
Data
,
model
.
Mu
(:,
i
),
model
.
Sigma
(:,:,
i
));
...
...
m_fcts/EM_MFA.m
View file @
2cb8784d
function
[
model
,
GAMMA2
]
=
EM_MFA
(
Data
,
model
)
%EM for Mixture of factor analysis
%Implementation inspired by "Parsimonious Gaussian Mixture Models" by McNicholas and Murphy, Appendix 8, p.17 (UUU version)
%Sylvain Calinon, 2015
% EM for Mixture of factor analysis (implementation based on "Parsimonious Gaussian
% Mixture Models" by McNicholas and Murphy, Appendix 8, p.17, UUU version).
%
% Writing code takes time. Polishing it and making it available to others takes longer!
% If some parts of the code were useful for your research of for a better understanding
% of the algorithms, please reward the authors by citing the related publications,
% and consider making your own research available in this way.
%
% @article{Calinon15,
% author="Calinon, S.",
% title="A Tutorial on TaskParameterized Movement Learning and Retrieval",
% journal="Intelligent Service Robotics",
% year="2015"
% }
%
% Copyright (c) 2015 Idiap Research Institute, http://idiap.ch/
% Written by Sylvain Calinon, http://calinon.ch/
%
% This file is part of PbDlib, http://www.idiap.ch/software/pbdlib/
%
% PbDlib is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License version 3 as
% published by the Free Software Foundation.
%
% PbDlib is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with PbDlib. If not, see <http://www.gnu.org/licenses/>.
%Parameters of the EM iterations
nbMinSteps
=
5
;
%Minimum number of iterations allowed
...
...
@@ 9,7 +38,7 @@ nbMaxSteps = 100; %Maximum number of iterations allowed
maxDiffLL
=
1E4
;
%Likelihood increase threshold to stop the algorithm
nbData
=
size
(
Data
,
2
);
diagRegularizationFactor
=
1E6
;
%
Regularization term is optional, see Eq. (2.1.2) in doc/TechnicalReport.pdf
diagRegularizationFactor
=
1E6
;
%
Optional regularization term
% %Circular initialization of the MFA parameters
% Itmp = eye(model.nbVar)*1E2;
...
...
@@ 22,7 +51,7 @@ for i=1:model.nbStates
[
V
,
D
]
=
eig
(
model
.
Sigma
(:,:,
i
)

model
.
P
(:,:,
i
));
[
~
,
id
]
=
sort
(
diag
(
D
),
'descend'
);
V
=
V
(:,
id
)
*
D
(
id
,
id
)
.^.
5
;
model
.
L
(:,:,
i
)
=
V
(:,
1
:
model
.
nbFA
);
%>Sigma=LL'+P
model
.
L
(:,:,
i
)
=
V
(:,
1
:
model
.
nbFA
);
%>
Sigma=LL'+P
end
for
nbIter
=
1
:
nbMaxSteps
for
i
=
1
:
model
.
nbStates
...
...
@@ 41,26 +70,26 @@ for nbIter=1:nbMaxSteps
GAMMA2
=
GAMMA
.
/
repmat
(
sum
(
GAMMA
,
2
),
1
,
nbData
);
%Mstep
%Update Priors
, see Eq. (2.2.10) in doc/TechnicalReport.pdf
%Update Priors
model
.
Priors
=
sum
(
GAMMA
,
2
)
/
nbData
;
%Update Mu
, see Eq. (2.2.11) in doc/TechnicalReport.pdf
%Update Mu
model
.
Mu
=
Data
*
GAMMA2
'
;
%Update factor analysers parameters
for
i
=
1
:
model
.
nbStates
%Compute covariance
, see Eq. (2.2.15) in doc/TechnicalReport.pdf
%Compute covariance
DataTmp
=
Data

repmat
(
model
.
Mu
(:,
i
),
1
,
nbData
);
S
(:,:,
i
)
=
DataTmp
*
diag
(
GAMMA2
(
i
,:))
*
DataTmp
'
+
eye
(
model
.
nbVar
)
*
diagRegularizationFactor
;
%Update B
, see Eq. (2.2.16) in doc/TechnicalReport.pdf
%Update B
B
(:,:,
i
)
=
model
.
L
(:,:,
i
)
' / (model.L(:,:,i) * model.L(:,:,i)'
+
model
.
P
(:,:,
i
));
%Update Lambda
, see Eq. (2.2.12) in doc/TechnicalReport.pdf
%Update Lambda
model
.
L
(:,:,
i
)
=
S
(:,:,
i
)
*
B
(:,:,
i
)
' / (eye(model.nbFA)  B(:,:,i) * model.L(:,:,i) + B(:,:,i) * S(:,:,i) * B(:,:,i)'
);
%Update Psi
, see Eq. (2.2.13) in doc/TechnicalReport.pdf
%Update Psi
model
.
P
(:,:,
i
)
=
diag
(
diag
(
S
(:,:,
i
)

model
.
L
(:,:,
i
)
*
B
(:,:,
i
)
*
S
(:,:,
i
)))
+
eye
(
model
.
nbVar
)
*
diagRegularizationFactor
;
%Reconstruct Sigma
, see Eq. (2.2.4) in doc/TechnicalReport.pdf
%Reconstruct Sigma
model
.
Sigma
(:,:,
i
)
=
model
.
L
(:,:,
i
)
*
model
.
L
(:,:,
i
)
'
+
model
.
P
(:,:,
i
);
end
%Compute average loglikelihood
...
...
@@ 76,9 +105,9 @@ end
disp
([
'The maximum number of '
num2str
(
nbMaxSteps
)
' EM iterations has been reached.'
]);
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function
[
Lik
,
GAMMA
]
=
computeGamma
(
Data
,
model
)
%See Eq. (2.2.9) in doc/TechnicalReport.pdf
Lik
=
zeros
(
model
.
nbStates
,
size
(
Data
,
2
));
for
i
=
1
:
model
.
nbStates
Lik
(
i
,:)
=
model
.
Priors
(
i
)
*
gaussPDF
(
Data
,
model
.
Mu
(:,
i
),
model
.
Sigma
(:,:,
i
));
...
...
m_fcts/EM_MPPCA.m
View file @
2cb8784d
function
[
model
,
GAMMA2
]
=
EM_MPPCA
(
Data
,
model
)
%EM for mixture of probabilistic principal component analyzers,
%inspired by "Mixtures of Probabilistic Principal Component Analysers" by Michael E. Tipping and Christopher M. Bishop
%Sylvain Calinon, 2015
% EM for mixture of probabilistic principal component analyzers (implementation based on
% "Mixtures of Probabilistic Principal Component Analysers" by Michael E. Tipping and Christopher M. Bishop)
%
% Writing code takes time. Polishing it and making it available to others takes longer!
% If some parts of the code were useful for your research of for a better understanding
% of the algorithms, please reward the authors by citing the related publications,
% and consider making your own research available in this way.
%
% @article{Calinon15,
% author="Calinon, S.",
% title="A Tutorial on TaskParameterized Movement Learning and Retrieval",
% journal="Intelligent Service Robotics",
% year="2015"
% }
%
% Copyright (c) 2015 Idiap Research Institute, http://idiap.ch/
% Written by Sylvain Calinon, http://calinon.ch/
%
% This file is part of PbDlib, http://www.idiap.ch/software/pbdlib/
%
% PbDlib is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License version 3 as
% published by the Free Software Foundation.
%
% PbDlib is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with PbDlib. If not, see <http://www.gnu.org/licenses/>.
%Parameters of the EM iterations
nbMinSteps
=
5
;
%Minimum number of iterations allowed
...
...
@@ 29,29 +58,29 @@ for nbIter=1:nbMaxSteps
GAMMA2
=
GAMMA
.
/
repmat
(
sum
(
GAMMA
,
2
),
1
,
nbData
);
%Mstep
%Update Priors
, see Eq. (2.2.10) in doc/TechnicalReport.pdf
%Update Priors
model
.
Priors
=
sum
(
GAMMA
,
2
)
/
nbData
;
%Update Mu
, see Eq. (2.2.11) in doc/TechnicalReport.pdf
%Update Mu
model
.
Mu
=
Data
*
GAMMA2
'
;
%Update factor analyser params
for
i
=
1
:
model
.
nbStates
%Compute covariance
, see Eq. (2.2.19) in doc/TechnicalReport.pdf
%Compute covariance
DataTmp
=
Data

repmat
(
model
.
Mu
(:,
i
),
1
,
nbData
);
S
(:,:,
i
)
=
DataTmp
*
diag
(
GAMMA2
(
i
,:))
*
DataTmp
'
+
eye
(
model
.
nbVar
)
*
diagRegularizationFactor
;
%Update M
, see Eq. (2.2.20) in doc/TechnicalReport.pdf
%Update M
M
=
eye
(
model
.
nbFA
)
*
model
.
o
(
i
)
+
model
.
L
(:,:,
i
)
'
*
model
.
L
(:,:,
i
);
%Update Lambda
, see Eq. (2.2.17) in doc/TechnicalReport.pdf
%Update Lambda
Lnew
=
S
(:,:,
i
)
*
model
.
L
(:,:,
i
)
/
(
eye
(
model
.
nbFA
)
*
model
.
o
(
i
)
+
M
\
model
.
L
(:,:,
i
)
'
*
S
(:,:,
i
)
*
model
.
L
(:,:,
i
));
%Update of sigma^2
, see Eq. (2.2.21) in doc/TechnicalReport.pdf
%Update of sigma^2
model
.
o
(
i
)
=
trace
(
S
(:,:,
i
)

S
(:,:,
i
)
*
model
.
L
(:,:,
i
)
/
M
*
Lnew
'
)
/
model
.
nbVar
;
model
.
L
(:,:,
i
)
=
Lnew
;
%Update Psi
, see Eq. (2.2.18) in doc/TechnicalReport.pdf
%Update Psi
model
.
P
(:,:,
i
)
=
eye
(
model
.
nbVar
)
*
model
.
o
(
i
);
%Reconstruct Sigma
, see Eq. (2.2.4) in doc/TechnicalReport.pdf
%Reconstruct Sigma
model
.
Sigma
(:,:,
i
)
=
model
.
L
(:,:,
i
)
*
model
.
L
(:,:,
i
)
'
+
model
.
P
(:,:,
i
);
end
...
...
@@ 68,9 +97,9 @@ end
disp
([
'The maximum number of '
num2str
(
nbMaxSteps
)
' EM iterations has been reached.'
]);
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function
[
Lik
,
GAMMA
]
=
computeGamma
(
Data
,
model
)
%See Eq. (2.0.5) in doc/TechnicalReport.pdf
Lik
=
zeros
(
model
.
nbStates
,
size
(
Data
,
2
));
for
i
=
1
:
model
.
nbStates
Lik
(
i
,:)
=
model
.
Priors
(
i
)
*
gaussPDF
(
Data
,
model
.
Mu
(:,
i
),
model
.
Sigma
(:,:,
i
));
...
...
m_fcts/EM_TPGMM.m
View file @
2cb8784d
...
...
@@ 3,21 +3,35 @@ function model = EM_TPGMM(Data, model)
% The approach allows the modulation of the centers and covariance matrices of the Gaussians with respect to
% external parameters represented in the form of candidate coordinate systems.
%
% Author: Sylvain Calinon, 2014
% http://programmingbydemonstration.org/SylvainCalinon
% Writing code takes time. Polishing it and making it available to others takes longer!
% If some parts of the code were useful for your research of for a better understanding
% of the algorithms, please reward the authors by citing the related publications,
% and consider making your own research available in this way.
%
% This source code is given for free! In exchange, I would be grateful if you cite
% the following reference in any academic publication that uses this code or part of it:
%
% @inproceedings{Calinon14ICRA,
% author="Calinon, S. and Bruno, D. and Caldwell, D. G.",
% title="A taskparameterized probabilistic model with minimal intervention control",
% booktitle="Proc. {IEEE} Intl Conf. on Robotics and Automation ({ICRA})",
% year="2014",
% month="MayJune",
% address="Hong Kong, China",
% pages="33393344"
% @article{Calinon15,
% author="Calinon, S.",
% title="A Tutorial on TaskParameterized Movement Learning and Retrieval",
% journal="Intelligent Service Robotics",
% year="2015"
% }
%
% Copyright (c) 2015 Idiap Research Institute, http://idiap.ch/
% Written by Sylvain Calinon, http://calinon.ch/
%
% This file is part of PbDlib, http://www.idiap.ch/software/pbdlib/
%
% PbDlib is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License version 3 as
% published by the Free Software Foundation.
%
% PbDlib is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with PbDlib. If not, see <http://www.gnu.org/licenses/>.
%Parameters of the EM algorithm
nbMinSteps
=
5
;
%Minimum number of iterations allowed
...
...
@@ 25,8 +39,8 @@ nbMaxSteps = 100; %Maximum number of iterations allowed
maxDiffLL
=
1E5
;
%Likelihood increase threshold to stop the algorithm
nbData
=
size
(
Data
,
3
);
diagRegularizationFactor
=
1E5
;
%
Regularization term is optional, see Eq. (2.1.2) in doc/TechnicalReport.pdf
%diagRegularizationFactor = 0; %
Regularization term is optional, see Eq. (2.1.2) in doc/TechnicalReport.pdf
diagRegularizationFactor
=
1E5
;
%
Optional regularization term
%diagRegularizationFactor = 0; %
Optional regularization term
for
nbIter
=
1
:
nbMaxSteps
fprintf
(
'.'
);
...
...
@@ 38,7 +52,7 @@ for nbIter=1:nbMaxSteps
%Mstep
for
i
=
1
:
model
.
nbStates
%Update Priors
, see Eq. (6.0.2) in doc/TechnicalReport.pdf
%Update Priors
model
.
Priors
(
i
)
=
sum
(
sum
(
GAMMA
(
i
,:)))
/
nbData
;
for
m
=
1
:
model
.
nbFrames
...
...
@@ 46,10 +60,10 @@ for nbIter=1:nbMaxSteps
DataMat
=
[];
DataMat
(
1
:
model
.
nbVars
(
m
),:)
=
Data
(
1
:
model
.
nbVars
(
m
),
m
,:);
%Update Mu
, see Eq. (6.0.3) in doc/TechnicalReport.pdf
%Update Mu
model
.
Mu
(
1
:
model
.
nbVars
(
m
),
m
,
i
)
=
DataMat
*
GAMMA2
(
i
,:)
'
;
%Update Sigma (regularization term is optional)
, see Eq. (6.0.4) in doc/TechnicalReport.pdf
%Update Sigma (regularization term is optional)
DataTmp
=
DataMat

repmat
(
model
.
Mu
(
1
:
model
.
nbVars
(
m
),
m
,
i
),
1
,
nbData
);
model
.
Sigma
(
1
:
model
.
nbVars
(
m
),
1
:
model
.
nbVars
(
m
),
m
,
i
)
=
DataTmp
*
diag
(
GAMMA2
(
i
,:))
*
DataTmp
'
+
eye
(
model
.
nbVars
(
m
))
*
diagRegularizationFactor
;
end
...
...
@@ 68,9 +82,9 @@ end
disp
([
'The maximum number of '
num2str
(
nbMaxSteps
)
' EM iterations has been reached.'
]);
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function
[
Lik
,
GAMMA
,
GAMMA0
]
=
computeGamma
(
Data
,
model
)
%See Eq. (6.0.1) in doc/TechnicalReport.pdf
nbData
=
size
(
Data
,
3
);
Lik
=
ones
(
model
.
nbStates
,
nbData
);
GAMMA0
=
zeros
(
model
.
nbStates
,
model
.
nbFrames
,
nbData
);
...
...
@@ 85,7 +99,3 @@ for i=1:model.nbStates
end
GAMMA
=
Lik
.
/
repmat
(
sum
(
Lik
,
1
)
+
realmin
,
size
(
Lik
,
1
),
1
);
end
m_fcts/EM_stdPGMM.m
View file @
2cb8784d
function
[
model
,
s
,
LL
]
=
EM_stdPGMM
(
s
,
model
)
% Training of a parametric Gaussian mixture model (PGMM) with expectationmaximization (EM).
% The implementation follows the approach described by Wilson and Bobick (1999) "Parametric Hidden Markov
% Models for Gesture Recognition", IEEE Trans. on Pattern Analysis and Machine Intelligence, with an
% implementation applied to the special case of Gaussian mixture models (GMM).
% The approach is inspired by Wilson and Bobick (1999), with an implementation applied to
% the special case of Gaussian mixture models (GMM).
%
% Author: Sylvain Calinon, 2013
% http://programmingbydemonstration.org/SylvainCalinon
% Writing code takes time. Polishing it and making it available to others takes longer!
% If some parts of the code were useful for your research of for a better understanding
% of the algorithms, please reward the authors by citing the related publications,
% and consider making your own research available in this way.
%
% This source code is given for free! In exchange, I would be grateful if you cite
% the following references in any academic publication that uses this code or part of it:
%
% @inproceedings{Calinon12Hum,
% author="Calinon, S. and Li, Z. and Alizadeh, T. and Tsagarakis, N. G. and Caldwell, D. G.",
% title="Statistical dynamical systems for skills acquisition in humanoids",
% booktitle="Proc. {IEEE} Intl Conf. on Humanoid Robots ({H}umanoids)",
% year="2012",
% address="Osaka, Japan"
% @article{Calinon15,
% author="Calinon, S.",
% title="A Tutorial on TaskParameterized Movement Learning and Retrieval",
% journal="Intelligent Service Robotics",
% year="2015"
% }
%
% @article{Wilson99,
% author="Wilson, A. D. and Bobick, A. F.",
% title="Parametric Hidden {M}arkov Models for Gesture Recognition",
...
...
@@ 27,8 +25,23 @@ function [model, s, LL] = EM_stdPGMM(s, model)
% pages="884900"
% }
%
% The first reference presents an implementation of the approach described in the second reference, and
% applies it to the special case of Gaussian mixture model (GMM).
% Copyright (c) 2015 Idiap Research Institute, http://idiap.ch/
% Written by Sylvain Calinon, http://calinon.ch/
%
% This file is part of PbDlib, http://www.idiap.ch/software/pbdlib/
%
% PbDlib is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License version 3 as
% published by the Free Software Foundation.
%
% PbDlib is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with PbDlib. If not, see <http://www.gnu.org/licenses/>.
%Parameters of the EM algorithm
nbMinSteps
=
10
;
%Minimum number of iterations allowed
...
...
@@ 54,19 +67,19 @@ for nbIter=1:nbMaxSteps
%MSTEP
for
i
=
1
:
model
.
nbStates
%Update Priors
, see Eq. (7.1.5) in doc/TechnicalReport.pdf
%Update Priors
model
.
Priors
(
i
)
=
sum
(
GAMMA
(
i
,:))/
nbData
;
%Update Zmu
, see Eq. (7.1.6) in doc/TechnicalReport.pdf
%Update Zmu
model
.
ZMu
(:,:,
i
)
=
zeros
(
model
.
nbVar
,
nbVarParams
);
sumTmp
=
zeros
(
nbVarParams
,
nbVarParams
);
for
n
=
1
:
nbSamples
model
.
ZMu
(:,:,
i
)
=
model
.
ZMu
(:,:,
i
)
+
(
s
(
n
)
.
Data
*
diag
(
s
(
n
)
.
GAMMA
(
i
,:))
*
repmat
(
s
(
n
)
.
OmegaMu
'
,
s
(
n
)
.
nbData
,
1
));
sumTmp
=
sumTmp
+
(
s
(
n
)
.
OmegaMu
*
s
(
n
)
.
OmegaMu
'
)
*
(
sum
(
s
(
n
)
.
GAMMA
(
i
,:)));
end
model
.
ZMu
(:,:,
i
)
=
model
.
ZMu
(:,:,
i
)
*
pinv
(
sumTmp
+
eye
(
nbVarParams
)
*
diagRegularizationFactor
);
%Eq. (6) Wilson and Bobick
model
.
ZMu
(:,:,
i
)
=
model
.
ZMu
(:,:,
i
)
*
pinv
(
sumTmp
+
eye
(
nbVarParams
)
*
diagRegularizationFactor
);
%Update Sigma
, see Eq. (7.1.7) in doc/TechnicalReport.pdf
%Update Sigma
model
.
Sigma
(:,:,
i
)
=
zeros
(
model
.
nbVar
);
sumTmp
=
0
;
for
n
=
1
:
nbSamples
...
...
@@ 95,7 +108,6 @@ for nbIter=1:nbMaxSteps
end
end
disp
([
'The maximum number of '
num2str
(
nbMaxSteps
)
' EM iterations has been reached.'
]);
end
...
...
@@ 121,7 +133,3 @@ for n=1:nbSamples
nTmp
=
nTmp
+
size
(
s
(
n
)
.
GAMMA
,
2
);
end
end
m_fcts/EM_tensorGMM.m
View file @
2cb8784d
...
...
@@ 3,21 +3,35 @@ function [model, GAMMA0, GAMMA2] = EM_tensorGMM(Data, model)
% The approach allows the modulation of the centers and covariance matrices of the Gaussians with respect to
% external parameters represented in the form of candidate coordinate systems.
%
% Author: Sylvain Calinon, 2014
% http://programmingbydemonstration.org/SylvainCalinon
% Writing code takes time. Polishing it and making it available to others takes longer!
% If some parts of the code were useful for your research of for a better understanding
% of the algorithms, please reward the authors by citing the related publications,
% and consider making your own research available in this way.
%
% This source code is given for free! In exchange, I would be grateful if you cite
% the following reference in any academic publication that uses this code or part of it:
%
% @inproceedings{Calinon14ICRA,
% author="Calinon, S. and Bruno, D. and Caldwell, D. G.",
% title="A taskparameterized probabilistic model with minimal intervention control",
% booktitle="Proc. {IEEE} Intl Conf. on Robotics and Automation ({ICRA})",
% year="2014",
% month="MayJune",
% address="Hong Kong, China",
% pages="33393344"
% @article{Calinon15,
% author="Calinon, S.",
% title="A Tutorial on TaskParameterized Movement Learning and Retrieval",
% journal="Intelligent Service Robotics",
% year="2015"
% }
%
% Copyright (c) 2015 Idiap Research Institute, http://idiap.ch/
% Written by Sylvain Calinon, http://calinon.ch/
%
% This file is part of PbDlib, http://www.idiap.ch/software/pbdlib/
%
% PbDlib is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License version 3 as
% published by the Free Software Foundation.
%
% PbDlib is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with PbDlib. If not, see <http://www.gnu.org/licenses/>.
%Parameters of the EM algorithm
nbMinSteps
=
5
;
%Minimum number of iterations allowed
...
...
@@ 25,8 +39,8 @@ nbMaxSteps = 100; %Maximum number of iterations allowed
maxDiffLL
=
1E5
;
%Likelihood increase threshold to stop the algorithm
nbData
=
size
(
Data
,
3
);
%diagRegularizationFactor = 1E2; %
Regularization term is optional, see Eq. (2.1.2) in doc/TechnicalReport.pdf
diagRegularizationFactor
=
1E8
;
%
Regularization term is optional, see Eq. (2.1.2) in doc/TechnicalReport.pdf
%diagRegularizationFactor = 1E2; %
Optional regularization term
diagRegularizationFactor
=
1E8
;
%
Optional regularization term
for
nbIter
=
1
:
nbMaxSteps