国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

Imitation learning is an important means of bio-robot to quickly learn new skills and methods, that is, through observation, understanding, learning, imitating the teaching behavior to achieve bionic robot. In view of some defects existing in the traditional methods, a new method is proposed to introduce the probabilistic matching model into imitation learning, that gaussian process were shown to express teach trajectory which was composed by discrete teach signal, and imitation trajectory with unknown parameters. Then compare the probability distribution of the two trajectories, seek the optimal control strategy----the policy, by minimizing the KL divergence to make use of gradient descent, finally applied the policy to the imitative robot for completing the teaching task. The essential part of the joint typeSrobot, mechanical arm,is used to be the imitate model, the simulation results of imitating the swing behavior demonstrate the effectiveness of the imitation learning method based on trajectory probability matching. The learning process is more simple and learning effect is better than the traditional methods.