{"created":"2023-05-15T15:29:28.881334+00:00","id":19179,"links":{},"metadata":{"_buckets":{"deposit":"d10e58d8-9f87-448c-a320-1c7a09073c18"},"_deposit":{"created_by":15,"id":"19179","owners":[15],"pid":{"revision_id":0,"type":"depid","value":"19179"},"status":"published"},"_oai":{"id":"oai:sucra.repo.nii.ac.jp:00019179","sets":["94:429:431:432:972"]},"author_link":[],"item_113_alternative_title_1":{"attribute_name":"タイトル（別言語）","attribute_value_mlt":[{"subitem_alternative_title":"Sequence-to-Sequenceモデルに基づく多様な状況への動作生成の学習"}]},"item_113_biblio_info_9":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2020","bibliographicIssueDateType":"Issued"}}]},"item_113_date_35":{"attribute_name":"作成日","attribute_value_mlt":[{"subitem_date_issued_datetime":"2021-01-26","subitem_date_issued_type":"Created"}]},"item_113_date_granted_20":{"attribute_name":"学位授与年月日","attribute_value_mlt":[{"subitem_dategranted":"2020-03-23"}]},"item_113_degree_grantor_22":{"attribute_name":"学位授与機関","attribute_value_mlt":[{"subitem_degreegrantor":[{"subitem_degreegrantor_name":"埼玉大学"}],"subitem_degreegrantor_identifier":[{"subitem_degreegrantor_identifier_name":"12401","subitem_degreegrantor_identifier_scheme":"kakenhi"}]}]},"item_113_degree_name_21":{"attribute_name":"学位名","attribute_value_mlt":[{"subitem_degreename":"博士(工学)"}]},"item_113_description_13":{"attribute_name":"形態","attribute_value_mlt":[{"subitem_description":"77 p.","subitem_description_type":"Other"}]},"item_113_description_24":{"attribute_name":"目次","attribute_value_mlt":[{"subitem_description":"1 Introduction 5\n 1.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5\n 1.2 Issue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5\n 1.3 Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6\n 1.4 Seq2seq Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7\n 1.5 Research 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 : 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