Dynamics Model Abstraction Scheme Using Radial Basis Functions
Figure 7
Bars represent the object discrimination power of the network (RBF) for all combinations of two, three, four, or five objects respectively (see paragraph 3 for object classification). If the RMSE (OBJ) value of the label output for a specific set of objects lies below the discrimination threshold, an accurate classification of objects can be achieved. Graphs show the result obtained with a non-fixed robot (Figure 7(a)) and with a fixed robot (Figure 7(b)), and each bar is associated to a combination of objects listed in the legend from left to right, respectively. A combination with two thresholds (i.e., 0 3 4) has two bars and two labels (0 3 4a and 0 3 4b) and bars are joined together in the graph.
