Small readme
Merged
Don't plot surf
More informative learning curve
Split into writing dmp parameters and trajectories
Split into writing dmp parameters and trajectories
Split tasks into cost functions and task solvers
Minor plotting tweaks
Adapted petanque task to new task/task_solver structure
Add bare-bones Skill class
Modified Skill.m to work with the task_solver implementation. Running
"obj=Skill" will run a test of the Skill class. Added plotting of
trajectories.
Merge branch 'tasksplitting_laura' of https://github.com/stulp/dmp_bbo into tasksplitting_laura
Added plotting of distributions within the Skill class, but is now very
slow.
Better commenting, modified plotting (plots trajectories in between
distribution update as well), renamed previous_experience to
learning_history since that's what it really is, and added
previous_experience which contains data useful to task splitting.
Added visualization of previous_experience - could be useful for task
splitting.
Performs weighted clustering on costs, then uses a regression tree to map
from percept variables to cluster labels. Only works to split tasks once
the DMP is near convergence to one optimal.
Moved function for determining splitting to a seperate file outside the
Skill class. Updated plotting to work with multiple skills. Added
structure for using subskills with classification trees.
Actually splits skills now and has correct figure numbers for subskills.
Still based on clustering of costs though. Works with the sample program
and does not split after the inital split (based on x1)
Added a function for basing splits directly off of the most correlated
percept variable. Note: Only does binary splitting. Will not necessarily
detect a split if it is based on a combination of percept variables.
Added feature split-and-merge, updated other files and plotting