WEKO3
アイテム
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Topics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8\n 1.6 Construction of this Dissertation . . . . . . . . . . . . . . . . . . . . . . . . 9\n2 Training of Seq2seq Models under Dynamic Constraints 11\n 2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11\n 2.2 Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13\n 2.2.1 Physics Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13\n 2.2.2 Seq2seq Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13\n 2.2.3 Proposed Learning Curriculum . . . . . . . . . . . . . . . . . . . . . 15\n 2.3 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16\n 2.3.1 Implementation of Seq2seq Model . . . . . . . . . . . . . . . . . . . 16\n 2.3.2 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19\n 2.3.3 Experimental Result . . . . . . . . . . . . . . . . . . . . . . . . . . . 19\n 2.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22\n3 Training of Seq2seq Models under Discontinuous Dynamics 23\n 3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23\n 3.2 Sequence-to-Sequence Model for Sliding Manipulation . . . . . . . . . . . . 24\n 3.2.1 Physics Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24\n 3.2.2 Seq2seq Model Architecture . . . . . . . . . . . . . . . . . . . . . . . 25\n 3.3 Training Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27\n 3.3.1 Objective Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27\n 3.3.2 Training Strategy Based on Curriculum Learning . . . . . . . . . . . 27\n 3.4 Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28\n 3.4.1 Implementation of Seq2seq Model . . . . . . . . . . . . . . . . . . . 28\n 3.4.2 Implementation of Training . . . . . . . . . . . . . . . . . . . . . . . 29\n 3.5 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30\n 3.5.1 Implementation of Simulation . . . . . . . . . . . . . . . . . . . . . . 30\n 3.5.2 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31\n 3.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35\n4 Association of Latent Representations with External Orders by Mathematical Expressions 37\n 4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37\n 4.2 Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39\n 4.2.1 Issue to be Addressed . . . . . . . . . . . . . . . . . . . . . . . . . . 39\n 4.2.2 Optimization of the Latent Representation . . . . . . . . . . . . . . 39\n 4.2.3 Optimization Procedure . . . . . . . . . . . . . . . . . . . . . . . . . 40\n 4.3 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40\n 4.3.1 Implementation of Seq2seq Model . . . . . . . . . . . . . . . . . . . 41\n 4.3.2 Adjusting Trajectories to Reach the Given End Positions . . . . . . 41\n 4.4 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43\n 4.4.1 Setup of the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43\n 4.4.2 Trajectory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44\n 4.4.3 Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45\n 4.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45\n5 Association of Latent Representations with External Orders by Numerical Expressions 53\n 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53\n 5.2 Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55\n 5.2.1 LfD using SeqAE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55\n 5.3 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57\n 5.3.1 Task Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57\n 5.3.2 Control System Setup . . . . . . . . . . . . . . . . . . . . . . . . . . 58\n 5.3.3 Training-Data Collection . . . . . . . . . . . . . . . . . . . . . . . . 58\n 5.3.4 Model Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59\n 5.3.5 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60\n 5.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64\n6 Conclusion 67", "subitem_description_type": "Other"}]}, "item_113_description_25": {"attribute_name": "注記", "attribute_value_mlt": [{"subitem_description": "指導教員 : 辻俊明", "subitem_description_type": "Other"}]}, "item_113_description_33": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"subitem_description": "text", "subitem_description_type": "Other"}]}, "item_113_description_34": {"attribute_name": 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Learning of Motion Generation for Various Situations based on Sequence-to-Sequence Models
https://doi.org/10.24561/00019148
https://doi.org/10.24561/00019148ab18ff4d-2704-401d-be82-eda3dcfacad3
名前 / ファイル | ライセンス | アクション |
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GD0001214.pdf (7.6 MB)
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Item type | 学位論文 / Thesis or Dissertation(1) | |||||||||
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公開日 | 2021-01-26 | |||||||||
タイトル | ||||||||||
言語 | en | |||||||||
タイトル | Learning of Motion Generation for Various Situations based on Sequence-to-Sequence Models | |||||||||
言語 | ||||||||||
言語 | eng | |||||||||
資源タイプ | ||||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||||||
資源タイプ | doctoral thesis | |||||||||
ID登録 | ||||||||||
ID登録 | 10.24561/00019148 | |||||||||
ID登録タイプ | JaLC | |||||||||
アクセス権 | ||||||||||
アクセス権 | open access | |||||||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||
タイトル(別言語) | ||||||||||
その他のタイトル | Sequence-to-Sequenceモデルに基づく多様な状況への動作生成の学習 | |||||||||
著者 |
沓澤, 京
× 沓澤, 京
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著者 所属 | ||||||||||
埼玉大学大学院理工学研究科(博士後期課程)理工学専攻 | ||||||||||
著者 所属(別言語) | ||||||||||
Graduate School of Science and Engineering, Saitama University | ||||||||||
書誌 | ||||||||||
収録物名 | 博士論文(埼玉大学大学院理工学研究科(博士後期課程)) | |||||||||
書誌情報 |
発行日 2020 |
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出版者名 | ||||||||||
出版者 | 埼玉大学大学院理工学研究科 | |||||||||
出版者名(別言語) | ||||||||||
出版者 | Graduate School of Science and Engineering, Saitama University | |||||||||
形態 | ||||||||||
内容記述タイプ | Other | |||||||||
内容記述 | 77 p. | |||||||||
学位授与番号 | ||||||||||
学位授与番号 | 甲第1165号 | |||||||||
学位授与年月日 | ||||||||||
学位授与年月日 | 2020-03-23 | |||||||||
学位名 | ||||||||||
学位名 | 博士(工学) | |||||||||
学位授与機関 | ||||||||||
学位授与機関識別子Scheme | kakenhi | |||||||||
学位授与機関識別子 | 12401 | |||||||||
学位授与機関名 | 埼玉大学 | |||||||||
目次 | ||||||||||
内容記述タイプ | Other | |||||||||
内容記述 | 1 Introduction 5 1.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.2 Issue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.3 Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.4 Seq2seq Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.5 Research Topics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.6 Construction of this Dissertation . . . . . . . . . . . . . . . . . . . . . . . . 9 2 Training of Seq2seq Models under Dynamic Constraints 11 2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.2 Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.2.1 Physics Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.2.2 Seq2seq Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.2.3 Proposed Learning Curriculum . . . . . . . . . . . . . . . . . . . . . 15 2.3 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.3.1 Implementation of Seq2seq Model . . . . . . . . . . . . . . . . . . . 16 2.3.2 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2.3.3 Experimental Result . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3 Training of Seq2seq Models under Discontinuous Dynamics 23 3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 3.2 Sequence-to-Sequence Model for Sliding Manipulation . . . . . . . . . . . . 24 3.2.1 Physics Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 3.2.2 Seq2seq Model Architecture . . . . . . . . . . . . . . . . . . . . . . . 25 3.3 Training Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.3.1 Objective Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.3.2 Training Strategy Based on Curriculum Learning . . . . . . . . . . . 27 3.4 Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 3.4.1 Implementation of Seq2seq Model . . . . . . . . . . . . . . . . . . . 28 3.4.2 Implementation of Training . . . . . . . . . . . . . . . . . . . . . . . 29 3.5 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.5.1 Implementation of Simulation . . . . . . . . . . . . . . . . . . . . . . 30 3.5.2 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4 Association of Latent Representations with External Orders by Mathematical Expressions 37 4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.2 Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 4.2.1 Issue to be Addressed . . . . . . . . . . . . . . . . . . . . . . . . . . 39 4.2.2 Optimization of the Latent Representation . . . . . . . . . . . . . . 39 4.2.3 Optimization Procedure . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.3 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.3.1 Implementation of Seq2seq Model . . . . . . . . . . . . . . . . . . . 41 4.3.2 Adjusting Trajectories to Reach the Given End Positions . . . . . . 41 4.4 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.4.1 Setup of the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.4.2 Trajectory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 4.4.3 Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 5 Association of Latent Representations with External Orders by Numerical Expressions 53 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5.2 Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.2.1 LfD using SeqAE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.3 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 5.3.1 Task Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 5.3.2 Control System Setup . . . . . . . . . . . . . . . . . . . . . . . . . . 58 5.3.3 Training-Data Collection . . . . . . . . . . . . . . . . . . . . . . . . 58 5.3.4 Model Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 5.3.5 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 5.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 6 Conclusion 67 |
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注記 | ||||||||||
内容記述タイプ | Other | |||||||||
内容記述 | 指導教員 : 辻俊明 | |||||||||
版 | ||||||||||
[出版社版] | ||||||||||
著者版フラグ | ||||||||||
出版タイプ | VoR | |||||||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||
資源タイプ | ||||||||||
内容記述タイプ | Other | |||||||||
内容記述 | text | |||||||||
フォーマット | ||||||||||
内容記述タイプ | Other | |||||||||
内容記述 | application/pdf | |||||||||
作成日 | ||||||||||
日付 | 2021-01-26 | |||||||||
日付タイプ | Created | |||||||||
アイテムID | ||||||||||
GD0001214 |