Rapid Learning in Robotics - Jorg Walter Part 2 ppsx

... 2. 1, 2. 4). The DLR Force-Torque-Sensor (FTS) was developed by the robotics group of Prof. Hirzinger of the DLR, Oberpfaf- fenhofen, and is a spin-off from the ROTEX Spacelab mission D2 (Hirzinger, Brunner, ... comply to extra constraints. Chapter 9 turns to the next higher level of one-shot learning. Here the learning of prototypical mappings is used to rapidly adapt a learning sys...

Ngày tải lên: 10/08/2014, 02:20

... versus On-line Learning and Interferences: Off-line learning al- lows easier control of the training procedure and validity of the data (identification of outliers). On-line, incremental learning is ... Variables Neural Networks Learning Learning Machine Learning Sub-symbolic & Fuzzy Learning Learning Mathematics Approximation Quantization Statistics Regression Classification En...

Ngày tải lên: 10/08/2014, 02:20

... 123 9 “Mixture-of-Expertise” or “Investment Learning 125 9.1 Context dependent “skills” . . . . . . . . . . . . . . . . . . . 125 9 .2 “Investment Learning or “Mixture-of-Expertise” Architec- ture ... example, when a bell J. Walter Rapid Learning in Robotics 1 Die Deutsche Bibliothek — CIP Data Walter, Jörg Rapid Learning in Robotics / by Jörg Walter, 1st ed. Göttingen...

Ngày tải lên: 10/08/2014, 02:20

... training set, but is performing badly on the indicated (cross-marked) position. More training data: Over-fitting can be avoided when sufficient training points are available, e.g. by learning on-line. ... cooperative learning in order to increase speed and ro- bustness of learning, studied e.g. in Walter, Martinetz, and Schulten (1991) and compared to the so-called Neural-Gas Network...

Ngày tải lên: 10/08/2014, 02:20

... polynomial in a selected node sub-grid, as described. For the bi-cubic, so-called tensor-product spline is usually com- puted by row-wise spline interpolation and a column spline over the row interpolation ... training data. The beginning in- folding of the map, e.g. seen at the lower left corner in Fig. 5.8 demonstrates further that shows multiple solutions (Eq. 4.4) for finding a best-m...

Ngày tải lên: 10/08/2014, 02:20

... augmenting 729 joint angle vectors on a rectangular 3 3 3 3 3 3 grid in joint angle space with the missing – 1 12 Application Examples in the Robotics Domain -4 0 -3 0 -2 0 -1 0 0 10 20 30 40 -4 0 -3 0 -2 0 -1 0 0 10 20 3 0 90 100 110 120 130 140 150 160 x y z r ... Kinematics Mapping 113 -4 0 -3 0 -2 0 -1 0 0 10 20 30 40 -4 0 -3 0 -2...

Ngày tải lên: 10/08/2014, 02:20

... Investment Learning Phase Meta-Box c X 1 X 2 parameters or weights ω T-Box P rototypical C ontext (1) (1) (2) (2) Figure 9 .2: The Investment Learning Phase. In the investment learning ... at any time. 9 .2 “Investment Learning or “Mixture-of-Expertise” Architecture 127 9 .2 “Investment Learning or “Mixture-of-Expertise” Architecture Here, we approach a sol...

Ngày tải lên: 10/08/2014, 02:20

... emphasizes an important point for the construction of more pow- erful learning systems: in addition to focusing on output value learning, 1 32 “Mixture-of-Expertise” or “Investment Learning The solution ... random lo- cations (from within the range of the training set) seen in 10 different 138 “Mixture-of-Expertise” or “Investment Learning camera setups, from within the square gr...

Ngày tải lên: 10/08/2014, 02:20

... Report SFB360-TR-9 6-3 , Universität Bielefeld, D-33615 Bielefeld. Walter, J., H. Ritter, and K. Schulten (1990, June). Non-linear predic- tion with self-organizing maps. In Int. Joint Conf. on ... Topology- conserving maps for learning visuo-motor-coordination. Neural Net- works 2, 159–168. Rosenblatt, F. (19 62) . Principles of Neurodynamics. Spartan, New York. Rumelhart, D., G. Hin...

Ngày tải lên: 10/08/2014, 02:20

... training examples in a stochastic sequence. Iterative learning is usually more efficient, particularly w.r.t. memory requirements. Off-line versus On-line Learning and Interferences: Off-line learning ... 123 9 “Mixture-of-Expertise” or “Investment Learning 125 9.1 Context dependent “skills” . . . . . . . . . . . . . . . . . . . 125 9 .2 “Investment Learning or “Mixture-of-Expert...

Ngày tải lên: 27/06/2014, 18:20