Dynamics Model Abstraction Scheme Using Radial Basis Functions

Figure 9

Comparison between the individual and the shared models related to predicted sensory values 𝑆1 and 𝑆2. The columns of a lighter colour indicate RMSE for the direct control while the columns of a darker colour represent RMSE for the controller of a single object once it is accurately classified. Cases (objects): 𝐴 (0 and 1), 𝐵 (0 and 2), 𝐶 (0 and 3), 𝐷 (0 and 4), 𝐸 (1 and 2), 𝐹 (1 and 3), 𝐺 (1 and 4), 𝐻 (2 and 3), 𝐼 (2 and 4), and 𝐽 (3 and 4).

(a)

(b)