Dynamics Model Abstraction Scheme Using Radial Basis Functions
Figure 5
RMSE values for predicted data of sensors and for sparse velocity-driven control scheme. The darker colour in the top of the columns indicates the increment of RMSE in the test stage. (a) Using a different class (model) for each single object. (b) Using a different class (model) for each set of two objects. Cases (objects): (0 and 1), (0 and 2), (0 and 3), (0 and 4), (1 and 2), (1 and 3), (1 and 4), (2 and 3), (2 and 4), and (3 and 4). (c) Using a different class (model) for each set of three objects. Cases (objects): (0, 1, and 2), (0, 1, and 3), (0, 1, and 4), (0, 2, and 3), (0, 2, and 4), (0, 3, and 4), (1, 2, and 3), (objects 1, 2, and 4), (1, 3, and 4), and (2, 3, and 4). (d) Using a different class for each set of four objects. Cases (objects): (0, 1, 2, and 4), (0, 1, 2, and 3), (0, 1, 3, and 4), (0, 2, 3, and 4), (1, 2, 3, and 4). (e) Using a single class for the only set of five objects. In this case the increment of RMSE in the test stage is neglectable. Cases (objects): (0, 1, 2, 3, and 4).
