A Physically-Consistent Bayesian Non-Parametric Mixture Model for Dynamical System Learning
Abstract
We propose a physically-consistent Bayesian non-parametric approach for fitting Gaussian Mixture Models (GMM) to trajectory data. Physical-consistency of the GMM is ensured by imposing a prior on the component assignments biased by a novel similarity metric that leverages locality and directionality. The resulting GMM is then used to learn globally asymptotically stable Dynamical Systems (DS) via a Linear Parameter Varying (LPV) re-formulation. The proposed DS learning scheme accurately encodes challenging nonlinear motions automatically. Finally, a data-efficient incremental learning framework is introduced that encodes a DS from batches of trajectories, while preserving global stability. Our contributions are validated on 2D datasets and a variety of tasks that involve single-target complex motions with a KUKA LWR 4+ robot arm.
Cite
Text
Figueroa and Billard. "A Physically-Consistent Bayesian Non-Parametric Mixture Model for Dynamical System Learning." Proceedings of The 2nd Conference on Robot Learning, 2018.Markdown
[Figueroa and Billard. "A Physically-Consistent Bayesian Non-Parametric Mixture Model for Dynamical System Learning." Proceedings of The 2nd Conference on Robot Learning, 2018.](https://mlanthology.org/corl/2018/figueroa2018corl-physicallyconsistent/)BibTeX
@inproceedings{figueroa2018corl-physicallyconsistent,
title = {{A Physically-Consistent Bayesian Non-Parametric Mixture Model for Dynamical System Learning}},
author = {Figueroa, Nadia and Billard, Aude},
booktitle = {Proceedings of The 2nd Conference on Robot Learning},
year = {2018},
pages = {927-946},
volume = {87},
url = {https://mlanthology.org/corl/2018/figueroa2018corl-physicallyconsistent/}
}