movement_primitives.data.load_lasa

movement_primitives.data.load_lasa(shape_idx)

Load demonstrations from LASA dataset.

The LASA dataset contains 2D handwriting motions recorded from a Tablet-PC. It can be found here. Take a look at the detailed explanation for more information. It was initially used to evaluate stable estimators of dynamical systems [1].

Parameters:

shape_idxint

Choose demonstrated shape, must be within range(30).

Returns:

Tarray, shape (n_demos, n_steps)

Times

Xarray, shape (n_demos, n_steps, n_dims)

Positions

Xdarray, shape (n_demos, n_steps, n_dims)

Velocities

Xddarray, shape (n_demos, n_steps, n_dims)

Accelerations

dtfloat

Time between steps

shape_namestring

Name of the Matlab file from which we load the demonstrations (without suffix).

References

[1]

Khansari-Zadeh, S. M., Billard, A. (2011). Learning Stable Nonlinear Dynamical Systems With Gaussian Mixture Models. IEEE Transactions on Robotics, 27 (5), 943-957. DOI: 10.1109/TRO.2011.2159412