Synthesising novel movements through latent space modulation of scalable control policies

S. Bitzer, I. Havoutis, S. Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We propose a novel methodology for learning and synthesising whole classes of high dimensional movements from a limited set of demonstrated examples that satisfy some underlying 'latent' low dimensional task constraints. We employ non-linear dimensionality reduction to extract a canonical latent space that captures some of the essential topology of the unobserved task space. In this latent space, we identify suitable parametrisation of movements with control policies such that they are easily modulated to generate novel movements from the same class and are robust to perturbations. We evaluate our method on controlled simulation experiments with simple robots (reaching and periodic movement tasks) as well as on a data set of very high-dimensional human (punching) movements. We verify that we can generate a continuum of new movements from the demonstrated class from only a few examples in both robotic and human data.
Original languageEnglish
Title of host publicationFrom Animals to Animats 10
Subtitle of host publication10th International Conference on Simulation of Adaptive Behavior, SAB 2008, Osaka, Japan, July 7-12, 2008. Proceedings
EditorsMinoru Asada, John C.T. Hallam, Jean-Arcady Meyer, Jun Tani
PublisherSpringer
Pages199-209
Number of pages11
ISBN (Print)978-3-540-69133-4
DOIs
Publication statusPublished - 2008

Publication series

NameLecture Notes in Computer Science
Volume5040
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

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