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rli
pbdlib-matlab
Commits
c6420811
Commit
c6420811
authored
Jan 17, 2015
by
Sylvain Calinon
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function
demoGMR01
% Gaussian mixture model (GMM) and Gaussian mixture regression (GMR)
%
% Author: Sylvain Calinon, 2014
% http://programming-by-demonstration.org/lib/
%
% This source code is given for free! In exchange, please cite the following
% reference in any academic publication that uses this code or part of it:
%
% @article{Calinon07SMC,
% author="Calinon, S. and Guenter, F. and Billard, A. G.",
% title="On Learning, Representing and Generalizing a Task in a Humanoid Robot",
% journal="{IEEE} Trans. on Systems, Man and Cybernetics, Part {B}",
% year="2007",
% volume="37",
% number="2",
% pages="286--298",
% }
addpath
(
'./m_fcts/'
);
%% Parameters
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
model
.
nbVar
=
3
;
%Number of variables
model
.
nbStates
=
5
;
%Number of states
nbData
=
250
;
%Length of each trajectory
%% Load AMARSI data
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
demos
=
[];
load
(
'data/AMARSI/GShape.mat'
);
nbSamples
=
length
(
demos
);
Data
=
[];
for
n
=
1
:
nbSamples
Data
=
[
Data
[
1
:
nbData
;
demos
{
n
}
.
pos
(:,
1
:
4
:
end
)]];
%-> 250 datapoints for each demo
end
%% Learning and reproduction
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%model = init_GMM_kmeans(Data, model);
model
=
init_GMM_timeBased
(
Data
,
model
);
model
=
EM_GMM
(
Data
,
model
);
DataOut
=
GMR
(
model
,
1
:
nbData
,
1
,
[
2
,
3
]);
%% Plots
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
figure
(
'position'
,[
20
,
100
,
500
,
600
]);
hold
on
;
box
on
;
plotGMM
(
model
.
Mu
(
2
:
model
.
nbVar
,:),
model
.
Sigma
(
2
:
model
.
nbVar
,
2
:
model
.
nbVar
,:),
[
0
.
8
0
]);
plot
(
Data
(
2
,:),
Data
(
3
,:),
'.'
,
'markersize'
,
8
,
'color'
,[
.
75
.
75
.
75
]);
plot
(
DataOut
(
1
,:),
DataOut
(
2
,:),
'-'
,
'linewidth'
,
2
,
'color'
,[
.
2
.
2
.
2
]);
axis
equal
;
set
(
gca
,
'Xtick'
,[]);
set
(
gca
,
'Ytick'
,[]);
%pause;
%close all;
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