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TiPI fixes#29

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scheunemann wants to merge 12 commits intogeorgmartius:mastergeorgmartius/lpzrobots:masterfrom scheunemann:TiPI-fixesscheunemann/lpzrobots:TiPI-fixesCopy head branch name to clipboard

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Commits on Aug 15, 2018

• Merge pull request #1 from georgmartius/master

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Commits on Nov 8, 2018

• Merge branch 'master' of github.com:georgmartius/lpzrobots

  

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• Humanoid from Simulations.zip from http://robot.informatik.uni-leipzig.de/research/supplementary/TiPI2013/ with pimax.cpp being replaced by the lpzrobots` version.

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• example scenarios from paper PLoS2013

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• Adding assert as sanity check. At that point, the actual a_tm1 is in fact $a_{t-1} = K(s_t)$ and thus doesn't equal $a_{t-1} = C_{t-1} * s_{t-1} + h_{t-1}$

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• computing $a_t$ with updated parameters C,h

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• epsC and epsA can be changed online from 0 to !0, buffer entries then will be wrong for learning, hence always enter learn()

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• have a re-usable function for smoothing s

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• include pimax from selforg/controller

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• Delete generated file

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Commits on Nov 9, 2018

• Iteration over the sum (A20) computes $\Delta C$. However, so far the iteration seems to compute the weight update with adding $C_{t-1}$ to the change within the sum. Results are the same as before…

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• A for $\delta u$, the Jacobian L(t-l) is calculated depended on the parameters C at time (t-l). $\partial \psi(s_{t-l}) / \partial s_{t-l}$ is depended on $a_{t-l}$ and therefore on $C_{t-l}$.

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