Abstract:This paper introduces the first, open source software library for Constraint Consistent Learning (CCL). It implements a family of data-driven methods that are capable of (i) learning state-independent and -dependent constraints, (ii) decomposing the behaviour of redundant systems into task-and nullspace parts, and (iii) uncovering the underlying null space control policy. It is a tool to analyse and decompose many everyday tasks, such as wiping, reaching and drawing. The library also includes several tutorials… Show more
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