A basic MATLAB implementation of our RAL/ICRA paper:
Jihong Zhu, Michael Gienger, and Jens Kober. Learning Task-Parameterized Skills from Few Demonstrations.
./m_fcts folder contains key functions extracted from PbDlib. (MATLAB version)
./additional_fcts contains functions to implement Alg. 1 described in the paper.
- Require MATLAB (v 2021b)
In the MATLAB console run:
RF_n_Noise.m
The code corresponds to the RF + Noise method in the paper. The code can be modified to run RF method easily.
The code was written and tested on MATLAB 2021b in Ubuntu 18.04
This work was supported by Honda Research Institute Europe GmbH as part of the project: Learning Physical Human-Robot Cooperation Tasks.
This project is licensed under the [GNU GENERAL PUBLIC LICENSE] - see the LICENSE file for details