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Latent Kullback-Leibler control for dynamic imitation learning of whole-body behaviors in humanoid robots.
Yuka Ariki
Takamitsu Matsubara
Sang-Ho Hyon
Published in:
Humanoids (2016)
Keyphrases
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humanoid robot
imitation learning
kullback leibler
multi modal
biologically inspired
robotic systems
kl divergence
human motion
control system
distance measure
kullback leibler divergence
cross entropy
machine learning
reinforcement learning
maximum likelihood
linear combination