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Jan Mundo

dblp:164/8320 · DBLP profile ↗
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1ranked-venue papers
0as first author
0since 2021 · last 2015
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1Systems, architecture and hardware · 1

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 87% Robot manipulation · 13%

Topics — the 3 heaviest of 3, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control › robot learning
movement primitives
0.212015
Extracting low-dimensional control variables for movement primitives · ICRA 2015
Robotics › Motion planning and robot control › robot learning › movement primitives
probabilistic movement primitives
0.212015
Extracting low-dimensional control variables for movement primitives · ICRA 2015
Robotics › Robot manipulation
learning from demonstration
0.112015
Extracting low-dimensional control variables for movement primitives · ICRA 2015

Methods — techniques the papers use, named apart from their topics

mixture model · 0.2hierarchical bayesian model · 0.2
YearPublicationVenuePosition
2015 Extracting low-dimensional control variables for movement primitives
abstract
Movement primitives (MPs) provide a powerful framework for data driven movement generation that has been successfully applied for learning from demonstrations and robot reinforcement learning. In robotics we often want to solve a multitude of different, but related tasks. As the parameters of the primitives are typically high dimensional, a common practice for the generalization of movement primitives to new tasks is to adapt only a small set of control variables, also called meta parameters, of the primitive. Yet, for most MP representations, the encoding of these control variables is pre-coded in the representation and can not be adapted to the considered tasks. In this paper, we want to learn the encoding of task-specific control variables also from data instead of relying on fixed meta-parameter representations. We use hierarchical Bayesian models (HBMs) to estimate a low dimensional latent variable model for probabilistic movement primitives (ProMPs), which is a recent movement primitive representation. We show on two real robot datasets that ProMPs based on HBMs outperform standard ProMPs in terms of generalization and learning from a small amount of data and also allows for an intuitive analysis of the movement. We also extend our HBM by a mixture model, such that we can model different movement types in the same dataset.
Elmar Rueckert, Jan Mundo, Alexandros Paraschos, Jan Peters 0001, Gerhard Neumann
ICRA2