Rapid Learning in Robotics - Jorg Walter Part 3 ppsx

... 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

... 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- tem to new context ... investment learning stage, since effort is invested, to train the system for the second, the one-shot learning phase. Observing the context, the system can now adapt most rapidly by “mixi...

Ngày tải lên: 10/08/2014, 02:20

... 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: Cuvillier, 1996 Zugl.: ... . . . . . . . . . . 131 9 .3. 2 Rapid Visuo-motor Coordination Learning . . . . . . 132 9 .3. 3 Factorize Learning: The 3 D Stereo Case . . . . . . . . 136 10 Summary 1...

Ngày tải lên: 10/08/2014, 02:20

... position. More training data: Over-fitting can be avoided when sufficient training points are available, e.g. by learning on-line. Duplicating the avail- able training data set and adding a small amount ... in the Kohonen map to a continuous auxiliary mapping or parameter manifold in the J. Walter Rapid Learning in Robotics 43 3.6 Selecting the Right Network Size 37 tween neigh...

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 – 112 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 1 13 -4 0 -3 0 -2 0 -1 0 0 10 20 30 40 -4 0 -3...

Ngày tải lên: 10/08/2014, 02:20

... a 3 3 3 3 3 3 C-PSOM. The six- dimensional man- ifold is embedded in a 15-dimensional -space. The spatial distribution of the resulting deviations is displayed in Fig. 8.7 (of the third case in ... mm 0.041 3 3 3 C-PSOM 11 mm 0.027 4 4 4 PSOM 2.4 mm 0.0061 4 4 4 C-PSOM 1.7 mm 0.0042 5 5 5 PSOM 0.11 mm 0.00027 5 5 5 C-PSOM 0.091 mm 0.000 23 3 3 3 L-PSOM of 4 4 4 6.7 mm 0.041...

Ngày tải lên: 10/08/2014, 02:20

... efficient learning modules for the continuous and smooth mapping domain, the “mixture-of-expert” scheme is superior in managing mapping domains which require non-continuous or non-smooth interfaces. ... 1987) on the basis of the values obtained from the Meta-PSOM. 136 “Mixture-of-Expertise” or “Investment Learning is visible in Tab. 9.2. 9 .3. 3 Factorize Learning: The 3 D Stereo C...

Ngày tải lên: 10/08/2014, 02:20

... Technical Report SFB360-TR-9 6 -3 , Universität Bielefeld, D -3 3 615 Bielefeld. Walter, J., H. Ritter, and K. Schulten (1990, June). Non-linear predic- tion with self-organizing maps. In Int. Joint Conf. on ... SFB360-TR-9 6-4 , TF-AG-NI, Universität Bielefeld, D -3 3 615 Bielefeld. Walter, J. and H. Ritter (1996d). Rapid learning with parametrized self- organizing maps. Neurocomp...

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 ... . . 131 9 .3. 2 Rapid Visuo-motor Coordination Learning . . . . . . 132 9 .3. 3 Factorize Learning: The 3 D Stereo Case . . . . . . . . 136 10 Summary 139 Bibliography 146...

Ngày tải lên: 27/06/2014, 18:20