姗熷櫒浜�鐨勬櫤鑳藉寲缍�(j墨ng)閬庡骞寸殑鐧�(f膩)灞�锛屽凡瓒婁締瓒婅布杩戜汉椤�锛屼娇鍏舵垚鐐哄叿鏈変汉椤炵殑瀛哥繏鑳藉姏銆侀亱鍕曡兘鍔�銆佸煼(zh铆)琛岃兘鍔涖€佹劅鐭ヨ兘鍔�銆佽獚鐭ヨ兘鍔涚瓑鐨勬柊鍨嬫櫤鑳芥鍣ㄤ汉鏄汉椤炶拷姹傜殑鐩锛屽叾涓ず鏁欏缈掓槸鐮旂┒姗熷櫒浜哄缈掕兘鍔涚殑閲嶈鍒嗘敮涔嬩竴锛屾槸鏅鸿兘鍨嬩豢浜烘鍣ㄤ汉鐧�(f膩)灞曞拰鎳夌敤鐨勯棞(gu膩n)閸�銆傚洜姝�锛屽皪浜庣ず鏁欏缈掔殑鐮旂┒涓€鐩存槸瀛歌(sh霉)鐣岀爺绌剁殑鐔遍粸銆�

杩戝勾渚�锛岀偤閬斿埌姗熷櫒浜鸿兘婧栫⒑銆佸揩閫熺殑瀹屾垚浜洪灏庡斧灏嶅叾绀烘暀鐨勫嫊浣�锛屽嚭鐝�(xi脿n)浜嗚ū澶氱ず鏁欐柟娉曪紝濡傛棩鏈琄ondo鍏徃鐢熺敘(ch菐n)鐨凨HR绯诲垪姗熷櫒浜�锛岄噰鐢ㄧ洿鎺ヨ几鍏ユ鍣ㄤ汉鍚勫€嬮棞(gu膩n)绡€(ji茅)瑙掑害鐨勬柟寮忛€茶绀烘暀锛涚編鍦嬫埓娌冪埦鎻愬嚭鍒╃敤浼烘湇鎶€琛�(sh霉)灏嶆鍣ㄤ汉鐨勯棞(gu膩n)绡€(ji茅)閫茶鎺у埗锛屼汉鎵嬪皪姗熷櫒浜洪€茶鍕曚綔绀烘暀锛屾鍣ㄤ汉瑷橀寗绀烘暀閬庣▼涓殑绀烘暀鏁�(sh霉)鎿�(j霉)骞堕€茶鍐嶇従(xi脿n)锛涙浌鍏舵柊绛変汉鍓囨彁鍑轰簡鍒╃敤婵€鍏夋繁搴﹀偝鎰熷櫒鍦ㄧ嵅寰椾汉楂斿悇闂�(gu膩n)绡€(ji茅)杞�(zhu菐n)瑙掔殑涓夌董鍧愭鍚�锛屽皣鍏惰几鍏ュ埌鎺у埗鍣ㄤ腑閫茶绀烘暀锛屽苟閲囩敤鍩轰簬閫熷害鐨勬湁閬告搰鍧囧€兼烤娉㈡硶灏嶆帶鍒舵暩(sh霉)鎿�(j霉)閫茶铏曠悊锛屼互涓婄ず鏁欐柟娉曞湪浜洪灏嶆鍣ㄤ汉閫茶绀烘暀鐮旂┒鐨勯€茬▼涓�锛屽仛鍑轰簡閲嶈鐨勮并鐛�锛岃捣鍒颁簡寰堝ぇ鐨勬帹鍕曚綔鐢�锛屼絾姗熷櫒浜哄畬鎴愮ず鏁欏嫊浣滅殑婧栫⒑鎬�銆侀噸鐝�(xi脿n)鐨勯€熷害鍙婂偝鎰熷櫒鏁�(sh霉)鎿�(j霉)鎶栧嫊鏂归潰鎵旀湁寰呮彁楂�銆�

鍦ㄧ郴绲�(t菕ng)鎺у埗绛栫暐鏂归潰锛屾湁瑷卞绠楁硶琚浉绻兼噳鐢ㄤ簬姗熷櫒浜虹ず鏁欓牁(l菒ng)鍩�锛屽楂樻柉娣峰悎妯″瀷銆佸挤鍖栧缈�銆佽│閷缈掔瓑銆備互涓婃柟娉曞湪鐢ㄤ簬绯荤当(t菕ng)鎺у埗鏅傦紝闆栫劧琛ㄧ従(xi脿n)鍑轰簡鑹ソ鐨勭郴绲�(t菕ng)绌�(w臎n)瀹氭€у強鏈夋晥鎬�锛屼絾涔熷瓨鍦ㄥ悇鑷殑缂洪粸锛屽瑷撶反鏅傞枔闀�銆佺敓鎴愮殑杌岃贰閫ｇ簩(x霉)鎬т笉濂界瓑銆傛サ闄愬缈掓ELM(ExtremeLearningMachine)鏄嚌灏嶄笂杩扮畻娉曠殑缂洪櫡瑷�(sh猫)瑷堢殑涓€绋柊鍨嬬畻娉曪紝鍏跺叿鏈夋硾鍖栧缈掕兘鍔涘挤銆佽〒绶撮€熷害蹇瓑鏂归潰鐨勫劒(y艒u)榛�銆�

缍滀笂鎵€杩�锛岀偤浜嗕娇姗熷櫒浜虹ず鏁欑郴绲�(t菕ng)鍏锋湁寰堝ソ鐨勮嚜閬╂噳鎬у強榄鎬э紝鍗虫鍣ㄤ汉鑳芥寜鐓хず鏁欏嫊浣�锛屽湪涓嶅悓璧峰榛炰笂浠嶆寜鐓хず鏁欑殑杌岃贰鍥炲埌绲傞粸浣嶇疆锛屼娇寰楁鍣ㄤ汉鍏锋湁涓€瀹氱殑鏅鸿兘鎬у強鑷缈掕兘鍔涳紝骞堕嚌灏嶄笂杩扮畻娉曠殑缂洪粸锛屾湰鏂囬伕鐢ㄦ暀瀛哥爺绌跺瀷姗熷櫒浜篘AO鐐哄椹楀钩鑷�锛岄噰鐢ㄦ壋鍕曞叾鎵嬭噦闂�(gu膩n)绡€(ji茅)鐨勬柟寮忛€茶绀烘暀锛屽悓鏅傛(g貌u)寤轰簡浠ユサ闄愬缈掓鐐烘牳蹇冪畻娉曠殑姗熷櫒浜虹ず鏁欑郴绲�(t菕ng)锛屽苟閫氶亷瀵﹂椹楄瓑浜嗚┎绠楁硶鑳戒娇绯荤当(t菕ng)鍏锋湁涓€瀹氱殑娉涘寲鑳藉姏銆�

鎺у埗閬庣▼姒傝堪

姗熷櫒浜哄畬鎴愰粸鍒伴粸鐨勭ず鏁欏嫊浣滄槸鐮旂┒浠夸汉姗熷櫒浜哄嫊浣滅法杓殑閲嶈绲勬垚閮ㄥ垎銆傛晠鏈枃灏囦互姗熷櫒浜哄畬鎴愬緸璧峰榛炲埌鐩榛炵殑鍕曚綔鐐哄熀绀�(ch菙)鍕曚綔锛屼互妤电煭鐨勬檪闁撻枔闅斾綔鐐洪噰妯ｇ殑闋荤巼锛屾瘡娆￠噰闆嗘檪锛屽皣NAO鍙虫墜鑷備笂鐨勫洓鍊嬮棞(gu膩n)绡€(ji茅)瑙掔殑鍊奸噰闆嗗埌锛岀劧鍚庡皪鏁�(sh霉)鎿�(j霉)閫茶闋愯檿鐞�锛屼箣鍚庨€茶鍥炴瑷撶反锛屽埄鐢ㄨ〒绶村ソ鐨勬ā鍨嬪皪姗熷櫒浜虹殑鎺у埗鍣ㄩ€茶鎺у埗锛屼娇寰楁鍣ㄤ汉閲嶇従(xi脿n)绀烘暀鍕曚綔鏇村姞婧栫⒑銆傦紙濡傚湒1锛�

瀵﹂骞宠嚭绨′粙

娉曞湅AldebaranRobotics鍏徃鐮斿埗鐨勫皬鍨嬩豢浜烘鍣ㄤ汉NAO锛岄珮搴︾偤58鍘樼背锛屽叏韬叡鏈�25鍊嬭嚜鐢卞害锛屽叿鏈夊嫊瑕�銆佽瑕恒€佽Ц瑕�銆佹劅鐭�銆佽獚鐭ョ瓑鑳藉姏锛屽叾鎿佹湁瀹屽杽鐨勬暩(sh霉)瀛楄檿鐞嗗櫒鍙婇浕姗熷埗鍕曞櫒銆佽睈瀵岀殑鍌虫劅鍣ㄧ郴绲�(t菕ng)銆佸绋氦娴佽ō(sh猫)鍌�銆佺壒鏈夌殑鎿嶄綔绯荤当(t菕ng)NAOqi銆佸畬鍌欑殑閰嶅绶ㄧ▼骞宠嚭锛屽叿鍌橶i-Fi閫ｆ帴鍙婁互澶恫(w菐ng)鍏╃ó閫氫俊鏂瑰紡锛屽洜鍏跺叿鍌欒壇濂界殑浜屾闁嬬櫦(f膩)鐨勫劒(y艒u)鍕�锛岃寤ｆ硾浣滅偤鏁欏銆佺鐮旂瓑鏂归潰鐨勭爺绌跺伐鍏枫€�

绀烘暀瀛哥繏绠楁硶

鐢变簬鍌虫劅鍣ㄦ脯閲忔檪瀛樺湪绱⿳瑾ゅ樊銆佸櫔鑱�銆佺┅(w臎n)瀹氭€х瓑鍟忛锛屾渻浣挎脯閲忓埌鐨勬暩(sh霉)鎿�(j霉)涓嶅婧栫⒑锛屾晠浣跨敤闆㈡暎鏅傞枔鐨勫崱鐖炬浖婵炬尝KF(KalmanFilter)渚嗗皪NAO鎵嬭噦闂�(gu膩n)绡€(ji茅)涓婄殑鍌虫劅鍣ㄨ几鍑烘暩(sh霉)鎿�(j霉)閫茶铻嶅悎锛屼娇寰楁鍣ㄤ汉鎵嬭噦濮挎厠(t脿i)鐨勬簴纰烘€ф渶鍎�(y艒u)锛屾湁鍒╀簬鎻愰珮姗熷櫒浜虹ず鏁欏缈掔殑婧栫⒑鎬�銆傛牴鎿�(j霉)涓婁竴鏅傚埢闂�(gu膩n)绡€(ji茅)鍌虫劅鍣ㄩ噰闆嗗埌鐨勬脯閲忓€煎皪涓嬩竴鏅傚埢鐨勬脯閲忓€奸€茶浼拌▓锛岀劧鍚庤垏涓嬩竴鏅傚埢鍌虫劅鍣ㄧ殑娓噺鍊奸€茶鏁�(sh霉)鎿�(j霉)铻嶅悎锛屽嵆鏇存涓嬩竴鏅傚埢鐨勬脯閲忓€硷紝浠ヤ究浣挎暩(sh霉)鎿�(j霉)鏇存簴纰�銆�

鏍规摎(j霉)姗熷櫒浜哄闅涢亱鍕曠媭鎱�(t脿i)锛屽皣閬嬪嫊绯荤当(t菕ng)瀹氱京鐐轰竴闅庡父寰垎鏂圭▼锛�

瀵﹂

HCS(LearningHumanbyDemonstration)鏄敱Y.OuandY.Xu[12]鎻愬嚭鐨勭敤浜庡湪闈炵窔鎬у嫊鎱�(t脿i)绯荤当(t菕ng)涓�锛屽埄鐢ㄦ敮鎸佸悜閲忓熀鐐烘ā鍨嬪缈掑嫊鎱�(t脿i)绯荤当(t菕ng)鐨勫弮鏁�(sh霉)锛屼互淇濊瓑鍕曚綔鑳藉鎸夌収绀烘暀鍕曚綔閬斿埌骞跺仠姝㈠埌鐩榛炵殑涓€绋当(t菕ng)瑷堝鍎�(y艒u)鍖栫畻娉�銆傜偤椹楄瓑ELM绠楁硶鍏锋湁鍦ㄤ笂杩扮磩鏉熸浠朵笅鏀舵杺銆佽〒绶撮€熷害蹇�銆佹簴纰虹巼楂樼瓑鐗归粸锛岄鍏堝皣ELM鑸嘢EDS鍦ㄩ噰鐢ㄧ浉鍚岀殑妯ｆ湰鏁�(sh霉)鎿�(j霉)鐐哄墠鎻愪笅锛屽皣鍏╄€呯殑浠跨湡瀵﹂绲�(ji茅)鏋滈€茶姣旇純銆傛ǎ鏈暩(sh霉)鎿�(j霉)渚嗘簮鐐洪噰闆嗙殑澶氱ó浜洪瀵﹂殯鎵嬪楂旀暩(sh霉)鎿�(j霉)搴€備互鏁�(sh霉)鎿�(j霉)搴腑鐨凜shape銆丼poon銆丩ine銆乀rapezoid绛夋暩(sh霉)鎿�(j霉)鐐轰緥锛屽椹楀皪姣斿湒濡傚湒3鎵€绀�銆�

鍦ㄥ椹楀钩鑷轰笂鍋氬闅涚殑绀烘暀瀵﹂锛岄鍏堢敱鎿嶄綔鑰呮壋鍕曟鍣ㄤ汉NAO鐨勬墜鑷傛湯绔煼(zh铆)琛屽櫒锛屼娇鍏跺仛鍑鸿姹傜殑閬块殰鍙栫墿鍕曚綔锛屽湪绀烘暀鐨勫悓鏅�锛孨AO涓殑閬犵▼鎺у埗鍣�锛岃閷勪笅姣忛枔闅�100ms鍌虫劅鍣�銆侀棞(gu膩n)绡€(ji茅)瑙掔瓑鐨勫€�锛岀暥闇€瑕佹鍣ㄤ汉閲嶇従(xi脿n)绀烘暀鍕曚綔鏅�锛屽嫊鎱�(t脿i)绯荤当(t菕ng)寰炲瓨鍎插櫒涓彇鍑虹稉(j墨ng)ELM绠楁硶瑷撶反鍑虹殑鎺у埗淇℃伅锛屽皣鎸囦护淇¤櫉鍌崇郸椹�(q奴)鍕曟妲�(g貌u)锛屼娇椹�(q奴)鍕曟妲�(g貌u)婧栫⒑銆佸揩閫熺殑瀹屾垚瑕佹眰鐨勫嫊浣�銆侲LM涓�锛岄毐钘忓堡绡€(ji茅)榛炲€嬫暩(sh霉)鐐�50锛岃几鍏ュ堡鑸囬毐钘忓堡娆�(qu谩n)鍊煎潎鐐洪毃姗熷悜閲�锛屼互铏曠悊鍚庢鍣ㄤ汉鎵嬭噦鏈鍩�(zh铆)琛屽櫒鐨勭┖闁撲綅缃暩(sh霉)鎿�(j霉)浣滅偤妤甸檺瀛哥繏姗熺殑杓稿叆锛屼互鎵嬭噦鏈鐨勯€熷害浣滅偤鍏惰几鍑�銆�

浜洪灏庡斧绀烘暀閬庣▼鍙婄ず鏁欐洸绶氬湒濡傚湒4鎵€绀恒€�

鍦�5鐐烘鍣ㄤ汉寰炰笉鍚岀殑璧峰榛為€茶閬块殰绀烘暀鍙婇噸鐝�(xi脿n)鐨勮粚璺″湒锛岄粦鑹查粸闆嗕唬琛ㄥ嫊浣滆捣濮嬮粸锛岃棈鑹查粸闆嗕唬琛ㄥ嫊浣滅殑绲傛榛�锛岀磪鑹叉洸绶氱偤妯ｆ湰鏁�(sh霉)鎿�(j霉)绲勬垚鐨勭ず鏁欐洸绶�锛岃棈鑹叉洸绶氱偤姗熷櫒浜洪噸鐝�(xi脿n)绀烘暀鍕曚綔鐨勬洸绶氬湒銆�

绲�(ji茅)璜�

鏈枃绲�(ji茅)鍚圗LM瀛哥繏绠楁硶鐨勮〒绶撮€熷害蹇�銆佹墍闇€瑾�(di脿o)绡€(ji茅)鐨勫弮鏁�(sh霉)灏戠瓑鍎�(y艒u)榛�锛屽皪姗熷櫒浜洪€茶绀烘暀瀛哥繏锛屽綄瑁滀簡浠ュ線浠夸汉姗熷櫒浜虹ず鏁欏缈掓檪瀛哥繏閫熷害鎱�锛岄噸鐝�(xi脿n)绀烘暀鍕曚綔绮剧⒑搴︿笉楂樼瓑鏂归潰鐨勪笉瓒筹紝瀵﹁笎鏁堟灉琛ㄦ槑锛岄噰鐢ㄨ┎鏂规硶鏈夊緢濂界殑鎶楀共鎿捐兘鍔�銆佸緢濂界殑娉涘寲鑳藉姏锛屽悓鏅備篃閬垮厤浜嗙董搴︾伣闆�銆傞噰鐢ㄥ父寰垎鏂圭▼灏囧熀浜嶦LM鐨勫嫊鎱�(t脿i)绯荤当(t菕ng)鎻忚堪鐐洪潪绶氭€у嫊鎱�(t脿i)绯荤当(t菕ng)锛屽苟绲﹀嚭浜嗚┎绯荤当(t菕ng)鍦ㄧ洰妯欓粸閬斿埌灞€閮ㄧ┅(w臎n)瀹氱殑绱勬潫姊濅欢锛屽埄鐢ㄦ潕闆呮櫘璜惧か绌�(w臎n)瀹氭€у畾鐞嗗皪鍏剁┅(w臎n)瀹氭€х郸浜堜簡鐞嗚珫鏀拹锛岀偤浠婂悗浠夸汉姗熷櫒浜哄缈掓洿澶氬京闆滅殑绀烘暀鍕曚綔濂犲畾鍩虹(ch菙)銆�

鏇村璩囪▕璜嬮棞(gu膩n)娉�鍌虫劅鍣�闋婚亾