We propose a learning framework, named Multi-Coordinate Cost Balancing (MCCB), to address the problem of acquiring point-to-point movement skills from demonstrations. MCCB encodes demonstrations simultaneously in multiple differential coordinates that specify local geometric properties. MCCB generates reproductions by solving a convex optimization problem with a multi-coordinate cost function and linear constraints on the reproductions, such as initial, target, and via points. Further, since the relative importance of each coordinate system in the cost function might be unknown for a given skill, MCCB learns optimal weighting factors that balance the cost function. We demonstrate the effectiveness of MCCB via detailed experiments conducted on one handwriting dataset and three complex skill datasets.
Differential coordinates have been extensively used in the computer graphics community @cite_6 @cite_11 . Prior work in trajectory learning that incorporates differential coordinates includes the Laplacian trajectory editing (LTE) algorithm @cite_9 . Using Laplacian coordinates, the LTE algorithm adapts a single demonstration to new initial, target, and via points while preserving the shape. However, the LTE algorithm does not reason about the relative importances of multiple coordinates.
@cite_9 @cite_6 @cite_11
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In this paper, we develop methods to rapidly remove rough features from irregularly triangulated data intended to portray a smooth surface. The main task is to remove undesirable noise and uneven edges while retaining desirable geometric features. The problem arises mainly when creating high-fidelity computer graphics objects using imperfectly-measured data from the real world. Our approach contains three novel features: an implicit integration method to achieve efficiency, stability, and large time-steps; a scale-dependent Laplacian operator to improve the diffusion process; and finally, a robust curvature flow operator that achieves a smoothing of the shape itself, distinct from any parameterization. Additional features of the algorithm include automatic exact volume preservation, and hard and soft constraints on the positions of the points in the mesh. We compare our method to previous operators and related algorithms, and prove that our curvature and Laplacian operators have several mathematically-desirable qualities that improve the appearance of the resulting surface. In consequence, the user can easily select the appropriate operator according to the desired type of fairing. Finally, we provide a series of examples to graphically and numerically demonstrate the quality of our results. Abstract Scalings in which the graph Laplacian approaches a differential operator in the large graph limit are used to develop understanding of a number of algorithms for semi-supervised learning; in particular, the probit algorithm, level set and kriging methods. Both optimization and Bayesian approaches are considered, based around a regularizing quadratic form found from an affine transformation of the Laplacian, raised to a possibly fractional, exponent. Conditions on the parameters defining this quadratic form are identified under which well-defined limiting continuum analogues of the optimization and Bayesian semi-supervised learning problems may be found, thereby shedding light on the design of algorithms in the large graph setting. The large graph limits of the optimization formulations are tackled through Γ-convergence, using the recently introduced T L p metric. The small labeling noise limits of the Bayesian formulations are also identified, and contrasted with pre-existing harmonic function approaches to the problem. SUMMARY In contrast to most triangulation algorithms which implicitly assume that triangulation point locations are fixed, 'Laplacian' smoothing focuses on moving point locations to improve triangulation. Laplacian smoothing is attractive for its simplicity but it does require an existing triangulation. In this paper the effect of Laplacian smoothing on Delaunay triangulations is explored. It will become clear that constraining Laplacian smoothing to maintain a Delaunay triangulation measurably improves Laplacian smoothing. An early reference to the use of Laplacian smoothing is to be found in a papel by Buell and Bush.' They surveyed the use of Laplace's equation to generate two-dimensional meshes, and described an equipotential method2 which extends finite differences of Laplace's equation on rectangular grids to differences on triangular grids. On triangular grids, the weighted difference equations Motion errors are inevitably introduced when data is acquired and considerably degrade the image quality in terms of geometric resolution, radiometric accuracy and image contrast, especially in high-resolution spotlight synthetic aperture radar (SAR) imagery. In this study, the authors present a novel two-dimensional (2D) autofocus algorithm directly inserted into polar format algorithm, which compensates the envelop error and the phase error sequentially. A coarse error correction is first performed by global positioning system or inertial navigation system in the range-compressed domain, then a new envelop compensation strategy, stage-by-stage approach, is designed, obtaining promising results for removing range cell migration after 2D interpolation. Additionally, a weighed contrast enhancement autofocus algorithm based on spatially variant model is developed to compensate for the residual phase error, which remarkably improves the estimation accuracy. The presented algorithm is very robust to deal with substantial errors over a variety of scenes even in conditions of homogenous areas with no prominent point scatterers and enables the utilisation of fast Fourier transform. The experimental results obtained by the proposed algorithm confirm that the analysis extends well to realistic situations.