目录
1.1.1 从静态环境假设到动态交互:传统WBC框架的局限性
1.1.2 高动态任务的挑战:非完整约束与紧密耦合的人-物交互
1.2.1 滑板桥架(Truck)转向机制与板面倾斜的耦合关系建模
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目录
1.1.1 从静态环境假设到动态交互:传统WBC框架的局限性
1.1.2 高动态任务的挑战:非完整约束与紧密耦合的人-物交互
1.2.1 滑板桥架(Truck)转向机制与板面倾斜的耦合关系建模
HUSKY——物理感知全身控制人形滑板系统 第二章:算法架构与关键技术
过硬的仿真模型则导致策略期望的回复力矩不足,引发失稳。物理引导的优势在于将高维动作空间降维至低维物理有意义的参数空间,避免策略盲目探索无效的倾斜-转向组合,同时确保转向动作符合滑板动力学约束。通过轨迹引导提供的时序先验,策略逐步优化接触模式,最终实现快速、平稳的上板动作,身体姿态从推进时的纵向对齐平滑过渡为转向时的横向对齐。HUSKY 采用本体感知与滑板状态融合的观测向量,包括:机器人关节角度与角速度、IMU 测量的躯干姿态与加速度、滑板板面的倾斜角度与角速度、以及任务相关的指令信号如期望航向和速度。
「文智助手」全场景办公AI助理AI+OPC全流程实践方案(大赛作品)
「文智助手」全场景办公AI助理AI+OPC全流程实践方案(大赛作品)
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写在前面呜呼,好久没有写博客了,好惭愧。题外话,感觉越大就越想家,希望可以一直和家人在一起,哪怕只是坐在一起不说话也觉得很温暖,一想到要分开眼睛就开始酸,哎。开学还是爬上来老实更新博客学习吧~今天爬上来一看,发现优快云的博客编辑终于更新了!进步总是好的,以前的编辑器实在很捉急。使用这种标记语言的确方便了很多,但好像颜色字体没法设置?程序员果然对美观没什么追求。ShaderToy如果你还没听过Sha
PLS-PM with R 偏最小二乘路径建模 (R语言)
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OpenClaw人人养虾:接入Synology Chat
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【目录】专栏文章导航
从最强工具链Davinci Configurator模块学习出发掌握AUTOSAR
深度学习工具包 DeepLearningToolbox
深度学习工具包Deprecation notice.-----This toolbox is outdated and no longer maintained.There are much better tools available for deep learning than this toolbox, e.g. [Theano](http://deeplearning.net/software/theano/), [torch](http://torch.ch/) or [tensorflow](http://www.tensorflow.org/)I would suggest you use one of the tools mentioned above rather than use this toolbox.Best, Rasmus.DeepLearnToolbox================A Matlab toolbox for Deep Learning.Deep Learning is a new subfield of machine learning that focuses on learning deep hierarchical models of data.It is inspired by the human brain's apparent deep (layered, hierarchical) architecture.A good overview of the theory of Deep Learning theory is[Learning Deep Architectures for AI](http://www.iro.umontreal.ca/~bengioy/papers/ftml_book.pdf)For a more informal introduction, see the following videos by Geoffrey Hinton and Andrew Ng.* [The Next Generation of Neural Networks](http://www.youtube.com/watch?v=AyzOUbkUf3M) (Hinton, 2007)* [Recent Developments in Deep Learning](http://www.youtube.com/watch?v=VdIURAu1-aU) (Hinton, 2010)* [Unsupervised Feature Learning and Deep Learning](http://www.youtube.com/watch?v=ZmNOAtZIgIk) (Ng, 2011)If you use this toolbox in your research please cite [Prediction as a candidate for learning deep hierarchical models of data](http://www2.imm.dtu.dk/pubdb/views/publication_details.php?id=6284)```@MASTERSTHESIS\{IMM2012-06284, author = "R. B. Palm", title = "Prediction as a candidate for learning deep hierarchical models of data", year = "2012",}```Contact: rasmusbergpalm at gmail dot comDirectories included in the toolbox-----------------------------------`NN/` - A library for Feedforward Backpropagation Neural Networks`CNN/` - A library for Convolutional Neural Networks`DBN/` - A library for Deep Belief Networks`SAE/` - A library for Stacked Auto-Encoders`CAE/` - A library for Convolutional Auto-Encoders`util/` - Utility functions used by the libraries`data/` - Data used by the examples`tests/` - unit tests to verify toolbox is workingFor references on each library check REFS.mdSetup-----1. Download.2. addpath(genpath('DeepLearnToolbox'));Example: Deep Belief Network---------------------```matlabfunction test_example_DBNload mnist_uint8;train_x = double(train_x) / 255;test_x = double(test_x) / 255;train_y = double(train_y);test_y = double(test_y);%% ex1 train a 100 hidden unit RBM and visualize its weightsrand('state',0)dbn.sizes = [100];opts.numepochs = 1;opts.batchsize = 100;opts.momentum = 0;opts.alpha = 1;dbn = dbnsetup(dbn, train_x, opts);dbn = dbntrain(dbn, train_x, opts);figure; visualize(dbn.rbm{1}.W'); % Visualize the RBM weights%% ex2 train a 100-100 hidden unit DBN and use its weights to initialize a NNrand('state',0)%train dbndbn.sizes = [100 100];opts.numepochs = 1;opts.batchsize = 100;opts.momentum = 0;opts.alpha = 1;dbn = dbnsetup(dbn, train_x, opts);dbn = dbntrain(dbn, train_x, opts);%unfold dbn to nnnn = dbnunfoldtonn(dbn, 10);nn.activation_function = 'sigm';%train nnopts.numepochs = 1;opts.batchsize = 100;nn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.10, 'Too big error');```Example: Stacked Auto-Encoders---------------------```matlabfunction test_example_SAEload mnist_uint8;train_x = double(train_x)/255;test_x = double(test_x)/255;train_y = double(train_y);test_y = double(test_y);%% ex1 train a 100 hidden unit SDAE and use it to initialize a FFNN% Setup and train a stacked denoising autoencoder (SDAE)rand('state',0)sae = saesetup([784 100]);sae.ae{1}.activation_function = 'sigm';sae.ae{1}.learningRate = 1;sae.ae{1}.inputZeroMaskedFraction = 0.5;opts.numepochs = 1;opts.batchsize = 100;sae = saetrain(sae, train_x, opts);visualize(sae.ae{1}.W{1}(:,2:end)')% Use the SDAE to initialize a FFNNnn = nnsetup([784 100 10]);nn.activation_function = 'sigm';nn.learningRate = 1;nn.W{1} = sae.ae{1}.W{1};% Train the FFNNopts.numepochs = 1;opts.batchsize = 100;nn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.16, 'Too big error');```Example: Convolutional Neural Nets---------------------```matlabfunction test_example_CNNload mnist_uint8;train_x = double(reshape(train_x',28,28,60000))/255;test_x = double(reshape(test_x',28,28,10000))/255;train_y = double(train_y');test_y = double(test_y');%% ex1 Train a 6c-2s-12c-2s Convolutional neural network %will run 1 epoch in about 200 second and get around 11% error. %With 100 epochs you'll get around 1.2% errorrand('state',0)cnn.layers = { struct('type', 'i') %input layer struct('type', 'c', 'outputmaps', 6, 'kernelsize', 5) %convolution layer struct('type', 's', 'scale', 2) %sub sampling layer struct('type', 'c', 'outputmaps', 12, 'kernelsize', 5) %convolution layer struct('type', 's', 'scale', 2) %subsampling layer};cnn = cnnsetup(cnn, train_x, train_y);opts.alpha = 1;opts.batchsize = 50;opts.numepochs = 1;cnn = cnntrain(cnn, train_x, train_y, opts);[er, bad] = cnntest(cnn, test_x, test_y);%plot mean squared errorfigure; 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