Online Quantum Mixture Regression for Trajectory Learning by Demonstration
File(s)iros2013.pdf (1.5 MB)
Accepted version
Author(s)
Korkinof, D
Demiris, Y
Type
Conference Paper
Abstract
In this work, we present the online Quantum Mixture Model (oQMM), which combines the merits of quantum mechanics and stochastic optimization. More specifically it allows for quantum effects on the mixture states, which in turn become a superposition of conventional mixture states. We propose an efficient stochastic online learning algorithm based on the online Expectation Maximization (EM), as well as a generation and decay scheme for model components. Our method is suitable for complex robotic applications, where data is abundant or where we wish to iteratively refine our model and conduct predictions during the course of learning. With a synthetic example, we show that the algorithm can achieve higher numerical stability. We also empirically demonstrate the efficacy of our method in well-known regression benchmark datasets. Under a trajectory Learning by Demonstration setting we employ a multi-shot learning application in joint angle space, where we observe higher quality of learning and reproduction. We compare against popular and well-established methods, widely adopted across the robotics community.
Date Issued
2013-11
Citation
2013, pp.3222-3229
ISSN
2153-0858
Publisher
IEEE
Start Page
3222
End Page
3229
Copyright Statement
© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Description
16/01/14 MEB. Pre-print version OK to add.
Source
International Conference on Intelligent Systems and Robots (IROS)
Source Place
Tokyo, Japan.
Publication Status
Published
Start Date
2013-11-03
Finish Date
2013-11-07
Coverage Spatial
Tokyo, Japan