Better plotting of learning hisory
New script to plot several learning histories
New predictme task
Labeled output dims (suggested by Laura)
Added startup script
Documentation (mostly readme files)
Special case: same costs for all
Readme formatting
Put transformation system in separate file
Added scripts for training DMP from observed trajectory. Better plotting.
Documentation
Simplified version to get started with the code
1) Added sigmoid canonical system
2) Better scaling with time
3) Implemented delayed goal
Improved basis function placement.
Some cleaning up and documentation
Using sigmoid canon system now
Added legibility parameter
Merged master into tasksplitting