├── .gitignore ├── CMakeLists.txt ├── GUI_image.jpeg ├── README.md ├── images ├── promp_demo.png ├── promp_demo2.png ├── promp_python2.png ├── promp_results2.png ├── promp_ros2.png ├── tp-hsmm_python.png ├── tphsmm_demonstrations&gmm.PNG ├── tphsmm_results2.png └── tphsmm_ros2.png ├── msg ├── PrompQueryTrigger.msg ├── PrompTrainMsg.msg ├── RobotTraj.msg ├── TPHSMMQueryTrigger.msg └── TPHSMMTrainMsg.msg ├── package.xml ├── saved_primitives ├── ProMP │ ├── pmp1 │ └── pmpexample1 └── TP-HSMM │ ├── tphsmm1 │ └── tphsmm2 ├── src ├── KMP │ ├── .idea │ │ ├── .gitignore │ │ ├── KMP.iml │ │ ├── inspectionProfiles │ │ │ └── profiles_settings.xml │ │ ├── misc.xml │ │ ├── modules.xml │ │ └── vcs.xml │ ├── kmp.py │ ├── kmp_record.py │ └── kmp_v2.py ├── ProMP │ ├── .idea │ │ ├── .gitignore │ │ ├── .name │ │ ├── ProMP.iml │ │ ├── inspectionProfiles │ │ │ └── profiles_settings.xml │ │ ├── misc.xml │ │ ├── modules.xml │ │ ├── vcs.xml │ │ └── workspace.xml │ ├── README.txt │ ├── graphs │ │ ├── Figure_1.png │ │ └── Figure_2.png │ ├── inter_promp_train.py │ ├── inter_promp_train.pyc │ ├── inter_promp_train_py2.py │ ├── inter_promp_train_py2.pyc │ ├── promp_query_caller.py │ ├── promp_query_listener.py │ ├── promp_record.py │ ├── promp_train_caller.py │ ├── promp_train_client.py │ ├── promp_train_listener.py │ ├── promp_train_server.py │ └── python2_versions │ │ ├── inter_promp_train.py │ │ └── inter_promp_train.py.bak ├── TP-HSMM │ ├── .idea │ │ ├── .gitignore │ │ ├── TP-HSMM.iml │ │ ├── inspectionProfiles │ │ │ └── profiles_settings.xml │ │ ├── misc.xml │ │ ├── modules.xml │ │ └── vcs.xml │ ├── Havoutis-Calinon2019_Article_LearningFromDemonstrationForSe.pdf │ ├── README.txt │ ├── __pycache__ │ │ └── test_sklearn_gmm.cpython-36.pyc │ ├── images │ │ ├── Frame1_10Comp.png │ │ ├── Frame1_10Comp_1.png │ │ ├── Frame1_5Comp_2.png │ │ ├── Frame1_6Comp_2.png │ │ ├── Frame2_10Comp.png │ │ ├── Frame2_10Comp_1.png │ │ ├── Frame2_5Comp_2.png │ │ ├── Frame2_6Comp_2.png │ │ ├── Frame3_10Comp.png │ │ ├── Frame3_10Comp_1.png │ │ ├── Frame3_5Comp_2.png │ │ ├── Frame3_6Comp_2.png │ │ ├── Frame4_10Comp.png │ │ ├── Frame4_10Comp_1.png │ │ ├── Frame4_5Comp_2.png │ │ ├── Frame4_6Comp_2.png │ │ ├── demonstrations.png │ │ ├── pred_trajs_5Comp_2 │ │ ├── pred_trajs_5Comp_2_9pts │ │ ├── pred_trajs_6Comp_2 │ │ ├── solution_tp_hsmm_sharp │ │ └── tp-hsmm_v2_2frames │ │ │ ├── 497,1158,1690,1118.png │ │ │ ├── Screenshot from 2020-12-09 13-17-08.png │ │ │ ├── gmm_frame1.png │ │ │ ├── gmm_frame2.png │ │ │ └── solution.png │ ├── test_sklearn_gmm.py │ ├── test_sklearn_gmm.pyc │ ├── tphsmm.py │ ├── tphsmm_query_caller.py │ ├── tphsmm_query_listener.py │ ├── tphsmm_rec.py │ ├── tphsmm_train_caller.py │ ├── tphsmm_train_listener.py │ ├── tphsmm_v2.py │ └── tphsmm_v2.pyc └── custom_MP │ └── kmp.py ├── srv └── PrompTrain.srv └── training_data ├── KMP_G └── 1 ├── KMP_div100 ├── 1 ├── 2 ├── 3 ├── 4 ├── 5 ├── 6 ├── 7 ├── 8 ├── 9 └── 10 ├── KMP_div1000 ├── 1 ├── 2 ├── 3 ├── 4 ├── 5 ├── 6 ├── 7 ├── 8 ├── 9 └── 10 ├── KMP_div100_dt0.01 ├── 1 ├── 2 ├── 3 ├── 4 ├── 5 ├── 6 ├── 7 ├── 8 ├── 9 └── 10 ├── KMP_div100_dt0.01_dynamic ├── 1 ├── 2 ├── 3 ├── 4 ├── 5 ├── 6 ├── 7 ├── 8 ├── 9 └── 10 ├── KMP_dynamic ├── 1 ├── 2 ├── 3 ├── 4 ├── 5 ├── 6 ├── 7 ├── 8 ├── 9 ├── 10 ├── 11 ├── 12 ├── 13 ├── 14 ├── 15 ├── 16 ├── 17 ├── 18 ├── 19 ├── 20 ├── 21 ├── 22 ├── 23 ├── 24 ├── 25 ├── 26 ├── 27 ├── 28 ├── 29 └── 30 ├── KMP_static ├── 1 ├── 2 ├── 3 ├── 4 ├── 5 ├── 6 └── 7 ├── KMP_static_0.01 ├── 1 ├── 2 ├── 3 ├── 4 └── 5 ├── ProMP ├── 1 ├── 2 ├── 3 ├── 4 ├── 5 ├── 6 ├── 7 ├── 8 ├── 9 ├── 10 ├── 11 ├── 12 ├── 13 ├── 14 ├── 15 ├── 16 ├── 17 ├── 18 ├── 19 ├── 20 ├── 21 ├── 22 ├── 23 ├── 24 ├── 25 ├── 26 ├── 27 ├── 28 ├── 29 ├── 30 ├── 31 ├── 32 ├── 33 ├── 34 ├── 35 ├── 36 ├── 37 ├── 38 ├── 39 ├── 40 ├── 41 ├── 42 ├── 43 ├── 44 ├── 45 ├── 46 ├── 47 ├── 48 ├── 49 └── 50 ├── TP-HSMM(old) ├── 1 ├── 2 ├── 3 ├── 4 ├── 5 ├── 6 ├── 7 ├── 8 ├── 9 ├── 10 ├── 11 ├── 12 ├── 13 ├── 14 ├── 15 ├── 16 ├── 17 ├── 18 ├── 19 ├── 20 ├── 21 ├── 22 ├── 23 ├── 24 ├── 25 ├── 26 ├── 27 ├── 28 ├── 29 ├── 30 ├── 31 ├── 32 ├── 33 ├── 34 └── 35 ├── TP-HSMM ├── 1 ├── 2 ├── 3 ├── 4 ├── 5 ├── 6 ├── 7 ├── 8 ├── 9 ├── 10 ├── 11 ├── 12 ├── 13 ├── 14 ├── 15 ├── 16 ├── 17 ├── 18 ├── 19 ├── 20 └── 21 ├── TP-HSMM_2frame ├── 1 ├── 2 ├── 3 ├── 4 ├── 5 ├── 6 ├── 7 ├── 8 ├── 9 └── 10 └── TP-HSMM_curvy ├── 1 ├── 2 ├── 3 ├── 4 ├── 5 ├── 6 ├── 7 ├── 8 ├── 9 ├── 10 ├── 11 ├── 12 ├── 13 ├── 14 ├── 15 ├── 16 ├── 17 ├── 18 ├── 19 ├── 20 └── 21 /.gitignore: -------------------------------------------------------------------------------- 1 | /src/TP-HSMM/images/ 2 | -------------------------------------------------------------------------------- /GUI_image.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/GUI_image.jpeg -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Movement Primitives 2 | 3 | This repository contains the implementation of algorithms for robot learning from human demonstration on ROS. 4 | 5 | **Folder Descriptions:** 6 | *msg*: Contains all the .msg files used in this repository 7 | *saved_primitives*: Contains trained Primitives 8 | *src*: contains the source code for the implementation of each algorithm 9 | *training_data*: Contains the data used to train movement primitives 10 | 11 | *The following algorithms have been implemented currently* 12 | ## 1. Interaction Probabilistic Movement Primitives: 13 | Maeda, G., Ewerton, M., Neumann, G., Lioutikov, R. and Peters, J., 2017. Phase estimation for fast action recognition and trajectory generation in human–robot collaboration. The International Journal of Robotics Research, 36(13-14), pp.1579-1594. 14 | 15 | ![ProMP Demonstrations](/images/promp_demo2.png) 16 | 17 | ![ProMP Python Implementation](/images/promp_python2.png) 18 | 19 | ![ProMP ROS Framework](/images/promp_ros2.png) 20 | 21 | ![ProMP Results](/images/promp_results2.png) 22 | 23 | 24 | ## 2. Task Parameterized Hidden Semi Markov Models: 25 | Havoutis, Ioannis, and Sylvain Calinon. "Learning from demonstration for semi-autonomous teleoperation." Autonomous Robots 43.3 (2019): 713-726. 26 | 27 | ![TP-HSMM Demonstrations](/images/tphsmm_demonstrations&gmm.PNG) 28 | 29 | ![TP-HSMM Python Implementation](/images/tp-hsmm_python.png) 30 | 31 | ![TP-HSMM ROS Framework](/images/tphsmm_ros2.png) 32 | 33 | ![TP-HSMM Results](/images/tphsmm_results2.png) 34 | -------------------------------------------------------------------------------- /images/promp_demo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/images/promp_demo.png -------------------------------------------------------------------------------- /images/promp_demo2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/images/promp_demo2.png -------------------------------------------------------------------------------- /images/promp_python2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/images/promp_python2.png -------------------------------------------------------------------------------- /images/promp_results2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/images/promp_results2.png -------------------------------------------------------------------------------- /images/promp_ros2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/images/promp_ros2.png -------------------------------------------------------------------------------- /images/tp-hsmm_python.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/images/tp-hsmm_python.png -------------------------------------------------------------------------------- /images/tphsmm_demonstrations&gmm.PNG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/images/tphsmm_demonstrations&gmm.PNG -------------------------------------------------------------------------------- /images/tphsmm_results2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/images/tphsmm_results2.png -------------------------------------------------------------------------------- /images/tphsmm_ros2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/images/tphsmm_ros2.png -------------------------------------------------------------------------------- /msg/PrompQueryTrigger.msg: -------------------------------------------------------------------------------- 1 | string promp_name 2 | int8 input_dofs 3 | float32[] input 4 | -------------------------------------------------------------------------------- /msg/PrompTrainMsg.msg: -------------------------------------------------------------------------------- 1 | string promp_name 2 | string path_to_data 3 | int8 sensor_dofs #Number of individual numbers in the sensor input 4 | int8 robot_dofs #Number of controllable robot joints 5 | -------------------------------------------------------------------------------- /msg/RobotTraj.msg: -------------------------------------------------------------------------------- 1 | int8 robot_dofs 2 | float32[] traj 3 | -------------------------------------------------------------------------------- /msg/TPHSMMQueryTrigger.msg: -------------------------------------------------------------------------------- 1 | string tphsmm_name 2 | int8 input_dofs #Number of via_pts 3 | float32[] input 4 | -------------------------------------------------------------------------------- /msg/TPHSMMTrainMsg.msg: -------------------------------------------------------------------------------- 1 | string tphsmm_name 2 | string path_to_data 3 | int8 num_demos #How many of the demos from path_to_data do you want to use 4 | int8 num_frames #Number of important frames of reference in the demonstrations 5 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | movement_primitives 4 | 0.0.0 5 | The movement_primitives package 6 | 7 | 8 | 9 | 10 | thejus 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | message_generation 41 | 42 | 43 | 44 | 45 | 46 | message_runtime 47 | 48 | 49 | 50 | 51 | catkin 52 | rospy 53 | std_msgs 54 | rospy 55 | std_msgs 56 | rospy 57 | std_msgs 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | -------------------------------------------------------------------------------- /src/KMP/.idea/.gitignore: -------------------------------------------------------------------------------- 1 | # Default ignored files 2 | /shelf/ 3 | /workspace.xml 4 | -------------------------------------------------------------------------------- /src/KMP/.idea/KMP.iml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/KMP/.idea/inspectionProfiles/profiles_settings.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 6 | -------------------------------------------------------------------------------- /src/KMP/.idea/misc.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /src/KMP/.idea/modules.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/KMP/.idea/vcs.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /src/ProMP/.idea/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/src/ProMP/.idea/.gitignore -------------------------------------------------------------------------------- /src/ProMP/.idea/.name: -------------------------------------------------------------------------------- 1 | promp_record.py -------------------------------------------------------------------------------- /src/ProMP/.idea/ProMP.iml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/ProMP/.idea/inspectionProfiles/profiles_settings.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 6 | -------------------------------------------------------------------------------- /src/ProMP/.idea/misc.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /src/ProMP/.idea/modules.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/ProMP/.idea/vcs.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /src/ProMP/README.txt: -------------------------------------------------------------------------------- 1 | Notes on ROS architecture: 2 | 3 | 1. Training and querying is implemented using ROS nodes (Publishers and Subscribers) 4 | Training: 5 | 2. promp_train_caller.py takes the promp_name and details about the demos, converts it to PrompTrainMsg.msg and publishes it to topic: promp_train 6 | 3. promp_train_listener.py listens to topic: promp_train for PrompTrainMsg.msg, trains a ProMP using this and saves the ProMP to movement_primitives/saved_primitives 7 | Querying: 8 | 4. promp_query_caller.py takes the promp_name and via_pts, converts it to PrompQueryTrigger.msg and publishes it to topic: promp_query 9 | 5. promp_query_listener.py listens to topic: promp_query for PrompQueryTrigger.msg, queries the required promp and publishes the trajectory to RobotTraj as RobotTraj.msg 10 | 11 | 12 | 13 | Running ProMP training and querying using ROS: 14 | 15 | In order to run the following, you need an active ros master (run roscore) 16 | 17 | Training: 18 | Initializing the training listener: 19 | rosrun movement_primitives promp_train_listener.py 20 | 21 | Training with a data set of demonstrations: 22 | rosrun movement_primitives promp_train_caller.py '' ' 23 | Example: 24 | rosrun movement_primitives promp_train_caller.py 'pmp1' '/home/thejus/catkin_ws/src/movement_primitives/training_data/ProMP' 4 3 25 | 26 | Querying: 27 | Initializing the query listener: 28 | rosrun movement_primitives promp_query_listener.py 29 | 30 | Querying with a set of via points: 31 | rosrun movement_primitives promp_query_caller.py '' 32 | Example: 33 | rosrun movement_primitives promp_query_caller.py 'pmp1' 4 500,1000,1500,1000 34 | -------------------------------------------------------------------------------- /src/ProMP/graphs/Figure_1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/src/ProMP/graphs/Figure_1.png -------------------------------------------------------------------------------- /src/ProMP/graphs/Figure_2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/src/ProMP/graphs/Figure_2.png -------------------------------------------------------------------------------- /src/ProMP/inter_promp_train.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/src/ProMP/inter_promp_train.pyc -------------------------------------------------------------------------------- /src/ProMP/inter_promp_train_py2.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/src/ProMP/inter_promp_train_py2.pyc -------------------------------------------------------------------------------- /src/ProMP/promp_query_caller.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import rospy 3 | from std_msgs.msg import String 4 | from movement_primitives.msg import * 5 | 6 | def promp_query_caller(promp_name, input_dofs, input): 7 | pub = rospy.Publisher('promp_query', PrompQueryTrigger, queue_size=10) 8 | rospy.init_node('promp_query_caller', anonymous=True) 9 | rate = rospy.Rate(10) # 10hz 10 | # while not rospy.is_shutdown(): 11 | print(type(input_dofs)) 12 | msg = PrompQueryTrigger() 13 | msg.promp_name = promp_name 14 | msg.input_dofs = input_dofs 15 | msg.input = input 16 | rospy.loginfo(msg) 17 | pub.publish(msg) 18 | # rate.sleep() 19 | 20 | if __name__ == '__main__': 21 | try: 22 | if len(sys.argv) == 4: 23 | promp_name = str(sys.argv[1]) 24 | input_dofs = int(sys.argv[2]) 25 | input_str = list(sys.argv[3].split(',')) 26 | input = [int(i) for i in input_str] 27 | promp_query_caller(promp_name, input_dofs, input) 28 | else: 29 | print('Error: More arguments required') 30 | except rospy.ROSInterruptException: 31 | pass 32 | -------------------------------------------------------------------------------- /src/ProMP/promp_query_listener.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import rospy 3 | import pickle 4 | import numpy as np 5 | from std_msgs.msg import String 6 | from movement_primitives.msg import * 7 | from inter_promp_train_py2 import * 8 | 9 | rospy.init_node('promp_query_listener', anonymous=True) 10 | traj_pub = rospy.Publisher('RobotTraj', RobotTraj, queue_size=10) 11 | 12 | def callback(data): 13 | global traj_pub 14 | print(data.promp_name, data.input_dofs, data.input) 15 | PROMP_SAVE_PATH = "/home/thejus/catkin_ws/src/movement_primitives/saved_primitives/ProMP/" + data.promp_name 16 | pmpfile = open(PROMP_SAVE_PATH, 'rb') 17 | pmp = pickle.load(pmpfile) 18 | pmpfile.close() 19 | rospy.loginfo("ProMP Loaded") 20 | input_traj = trajectorizePoints(data.input, pmp) 21 | output_traj = pmp.predict(input_traj) 22 | rospy.loginfo("ProMP Queried") 23 | 24 | msg = RobotTraj() 25 | msg.robot_dofs = output_traj.shape[1] 26 | msg.traj = output_traj.reshape((output_traj.shape[0]*output_traj.shape[1],)) 27 | traj_pub.publish(msg) 28 | plot_traj(output_traj, data.input) 29 | promp_query_listener() 30 | 31 | def plot_traj(traj, input): 32 | plt.figure(1) 33 | plt.plot(traj[:,4],traj[:,5]) 34 | plt.plot(input[0],input[1],'ro') 35 | plt.plot(input[2], input[3], 'ro') 36 | plt.show() 37 | 38 | def promp_query_listener(): 39 | rospy.Subscriber("promp_query", PrompQueryTrigger, callback) 40 | print('Ready for call to query ProMP') 41 | rospy.spin() 42 | 43 | if __name__ == '__main__': 44 | promp_query_listener() 45 | -------------------------------------------------------------------------------- /src/ProMP/promp_train_caller.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import rospy 3 | from std_msgs.msg import String 4 | from movement_primitives.msg import * 5 | 6 | def promp_train_caller(promp_name, path_to_data, sensor_dofs, robot_dofs): 7 | pub = rospy.Publisher('promp_train', PrompTrainMsg, queue_size=10) 8 | rospy.init_node('promp_train', anonymous=True) 9 | rate = rospy.Rate(10) # 10hz 10 | # while not rospy.is_shutdown(): 11 | msg = PrompTrainMsg() 12 | msg.promp_name = promp_name 13 | msg.path_to_data = path_to_data 14 | msg.sensor_dofs = sensor_dofs 15 | msg.robot_dofs = robot_dofs 16 | rospy.loginfo(msg) 17 | pub.publish(msg) 18 | # rate.sleep() 19 | 20 | if __name__ == '__main__': 21 | try: 22 | if len(sys.argv) == 5: 23 | promp_name = str(sys.argv[1]) 24 | path_to_data = str(sys.argv[2]) 25 | sensor_dofs = int(sys.argv[3]) 26 | robot_dofs = int(sys.argv[4]) 27 | promp_train_caller(promp_name, path_to_data, sensor_dofs, robot_dofs) 28 | else: 29 | print('Error: More arguments required') 30 | except rospy.ROSInterruptException: 31 | pass 32 | -------------------------------------------------------------------------------- /src/ProMP/promp_train_client.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | from __future__ import print_function 4 | 5 | import sys 6 | import rospy 7 | from movement_primitives.srv import * 8 | 9 | def promp_train_client(): 10 | rospy.wait_for_service('promp_train') 11 | try: 12 | promp_train = rospy.ServiceProxy('promp_train', PrompTrain) 13 | promp_name = "abc" 14 | resp1 = promp_train(promp_name) 15 | return resp1 16 | except rospy.ServiceException as e: 17 | print("Service call failed: %s"%e) 18 | 19 | def usage(): 20 | return "%s [x y]"%sys.argv[0] 21 | 22 | if __name__ == "__main__": 23 | resp = promp_train_client() 24 | print(resp.step) 25 | print(resp.traj_data) 26 | -------------------------------------------------------------------------------- /src/ProMP/promp_train_listener.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import rospy 3 | import pickle 4 | from std_msgs.msg import String 5 | from movement_primitives.msg import * 6 | from inter_promp_train_py2 import * 7 | import matplotlib.pyplot as plt 8 | 9 | def callback(data): 10 | rospy.loginfo(rospy.get_caller_id() + "I heard %s, %s, %d, %d", data.promp_name, data.path_to_data, data.sensor_dofs, data.robot_dofs) 11 | 12 | data_addr = data.path_to_data 13 | ndemos = len(os.listdir(data_addr)) 14 | data_addr = data_addr+"/" #ProMP() requires that there be a '/' after the name of the target folder 15 | print("ndemos: ", ndemos, "data_addr: ", data_addr, "data.sensor_dofs: ", data.sensor_dofs, "data.robot_dofs: ", data.robot_dofs) 16 | pmp = ProMP(ndemos=ndemos, hum_dofs=data.sensor_dofs, robot_dofs=data.robot_dofs, training_address=data_addr) 17 | rospy.loginfo("ProMP Trained. Saving...") 18 | 19 | ############ JUST FOR TESTING ################# 20 | # data_addr = '/home/thejus/catkin_ws/src/movement_primitives/training_data/ProMP/' 21 | # ndemos = len(os.listdir(data_addr)) 22 | # pmp = ProMP(ndemos=ndemos, hum_dofs=4, robot_dofs=3, dt=0.1, training_address=data_addr) 23 | # test_point = [500,1000,1500,1000] 24 | # test_data = trajectorizePoints(test_point,pmp) 25 | # traj = pmp.predict(test_data) 26 | # plt.figure(1) 27 | # plt.plot(traj[:,4],traj[:,5]) 28 | # plt.plot(test_point[0],test_point[1],'ro') 29 | # plt.plot(test_point[2], test_point[3], 'ro') 30 | # plt.show() 31 | ################################################# 32 | 33 | PROMP_SAVE_PATH = "/home/thejus/catkin_ws/src/movement_primitives/saved_primitives/ProMP/" + data.promp_name 34 | outfile = open(PROMP_SAVE_PATH, 'wb') 35 | pickle.dump(pmp,outfile) 36 | outfile.close() 37 | rospy.loginfo("ProMP saved in movement_primitives/saved_primitives/ProMP under the name %s", data.promp_name) 38 | 39 | promp_train_listener() 40 | 41 | def promp_train_listener(): 42 | rospy.init_node('promp_train_listener', anonymous=True) 43 | rospy.Subscriber("promp_train", PrompTrainMsg, callback) 44 | print('Ready for call to train ProMP') 45 | rospy.spin() 46 | 47 | if __name__ == '__main__': 48 | promp_train_listener() 49 | -------------------------------------------------------------------------------- /src/ProMP/promp_train_server.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | from movement_primitives.srv import * 4 | import rospy 5 | 6 | def handle_promp_train(req): 7 | resp = PrompTrainResponse() 8 | std_msgs 9 | resp.traj_data.layout.dim = [] 10 | resp.traj_data.layout.dim[0].label = "rows" 11 | resp.traj_data.layout.dim[0].size = 2 12 | resp.traj_data.layout.dim[0].stride = 0 13 | resp.traj_data.layout.dim[1].label = "cols" 14 | resp.traj_data.layout.dim[1].size = 3 15 | resp.traj_data.layout.dim[1].stride = 0 16 | resp.traj_data.layout.data_offset = 0 17 | resp.traj_data.data[0] = [4,3,5,3,2,4] 18 | return resp 19 | 20 | def promp_train_server(): 21 | rospy.init_node('promp_train_server') 22 | s = rospy.Service('promp_train', PrompTrain, handle_promp_train) 23 | print("Ready to ProMP Train.") 24 | rospy.spin() 25 | 26 | if __name__ == "__main__": 27 | promp_train_server() 28 | -------------------------------------------------------------------------------- /src/TP-HSMM/.idea/.gitignore: -------------------------------------------------------------------------------- 1 | # Default ignored files 2 | /shelf/ 3 | /workspace.xml 4 | -------------------------------------------------------------------------------- /src/TP-HSMM/.idea/TP-HSMM.iml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/TP-HSMM/.idea/inspectionProfiles/profiles_settings.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 6 | -------------------------------------------------------------------------------- /src/TP-HSMM/.idea/misc.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /src/TP-HSMM/.idea/modules.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/TP-HSMM/.idea/vcs.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /src/TP-HSMM/Havoutis-Calinon2019_Article_LearningFromDemonstrationForSe.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/src/TP-HSMM/Havoutis-Calinon2019_Article_LearningFromDemonstrationForSe.pdf -------------------------------------------------------------------------------- /src/TP-HSMM/README.txt: -------------------------------------------------------------------------------- 1 | Notes on ROS architecture: 2 | 3 | 1. Training and querying is implemented using ROS nodes (Publishers and Subscribers) 4 | Training: 5 | 2. tphsmm_train_caller.py takes the tphsmm_name and details about the demos, converts it to TPHSMMTrainMsg.msg and publishes it to topic: tphsmm_train 6 | 3. tphsmm_train_listener.py listens to topic: tphsmm_train for TPHSMMTrainMsg.msg, trains a TP-HSMM using this and saves the TP-HSMM to movement_primitives/saved_primitives 7 | Querying: 8 | 4. tphsmm_query_caller.py takes the tphsmm_name and via_pts, converts it to TPHSMMQueryTrigger.msg and publishes it to topic: tphsmm_query 9 | 5. tphsmm_query_listener.py listens to topic: tphsmm_query for TPHSMMQueryTrigger.msg, queries the required tphsmm and publishes the trajectory to RobotTraj as RobotTraj.msg 10 | 11 | 12 | 13 | Running TP-HSMM training and querying using ROS: 14 | 15 | In order to run the following, you need an active ros master (run roscore) 16 | 17 | Training: 18 | Initializing the training listener: 19 | rosrun 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plt 3 | from sklearn.mixture import GaussianMixture 4 | from sklearn.model_selection import StratifiedKFold 5 | import numpy as np 6 | from sklearn import datasets 7 | 8 | def make_ellipses(gmm, ax): 9 | color = 'navy' 10 | for n in range(gmm.n_components): 11 | covariances = gmm.covariances_[n][:2, :2] 12 | v, w = np.linalg.eigh(covariances) 13 | u = w[0] / np.linalg.norm(w[0]) 14 | angle = np.arctan2(u[1], u[0]) 15 | angle = 180 * angle / np.pi # convert to degrees 16 | v = 2. * np.sqrt(2.) * np.sqrt(v) 17 | ell = mpl.patches.Ellipse(gmm.means_[n, :2], v[0], v[1], 18 | 180 + angle, color=color) 19 | ell.set_clip_box(ax.bbox) 20 | ell.set_alpha(0.5) 21 | ax.add_artist(ell) 22 | ax.set_aspect('equal', 'datalim') 23 | 24 | def plot_gmms(data, gmm=None, n_comp = None): 25 | if gmm==None: 26 | gmm = GaussianMixture(n_components=n_comp, random_state=0) 27 | gmm.fit(data) 28 | ax = plt.subplot(1, 1, 1) 29 | make_ellipses(gmm, ax) 30 | plt.scatter(data[:, 0], data[:, 1], s=0.8, color='red') 31 | # x = [[1500, 1080]] 32 | # plt.plot(x[0][0], x[0][1], 'bo') 33 | # comp = gmm.predict(x)[0] 34 | # plt.plot(gmm.means_[comp][0], gmm.means_[comp][1], 'go') 35 | for i in range(gmm.n_components): 36 | plt.text(gmm.means_[i][0],gmm.means_[i][1],str(i+1),color='blue') 37 | 38 | plt.show() 39 | 40 | if __name__ == '__main__': 41 | data = [] 42 | data_addr = '../../training_data/TP-HSMM/' 43 | for i in range(35): 44 | data.append(np.loadtxt(open(data_addr + str(i + 1) + ''), delimiter=",")) 45 | positions = np.array(data[0]) 46 | for i in range(1, len(data)): 47 | positions = np.append(positions, data[i], axis=0) 48 | positions = np.delete(positions,[2,3,4,5],1) 49 | gmm = GaussianMixture(n_components=10, random_state=0) 50 | gmm.fit(positions) 51 | 52 | plot_gmms(positions, gmm) 53 | # gmm = GaussianMixture(n_components=10,random_state=0) 54 | # gmm.fit(positions) 55 | # ax = plt.subplot(1,1,1) 56 | # make_ellipses(gmm,ax) 57 | # plt.scatter(positions[:, 0], positions[:, 1], s=0.8, color='red') 58 | # x = [[1500,1080]] 59 | # plt.plot(x[0][0],x[0][1],'bo') 60 | # comp = gmm.predict(x)[0] 61 | # plt.plot(gmm.means_[comp][0],gmm.means_[comp][1], 'go') 62 | # 63 | # plt.show() 64 | -------------------------------------------------------------------------------- /src/TP-HSMM/test_sklearn_gmm.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/src/TP-HSMM/test_sklearn_gmm.pyc -------------------------------------------------------------------------------- /src/TP-HSMM/tphsmm_query_caller.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import rospy 3 | from std_msgs.msg import String 4 | from movement_primitives.msg import * 5 | 6 | def tphsmm_query_caller(tphsmm_name, input_dofs, input): 7 | pub = rospy.Publisher('tphsmm_query', TPHSMMQueryTrigger, queue_size=10) 8 | rospy.init_node('tphsmm_query_caller', anonymous=True) 9 | rate = rospy.Rate(10) # 10hz 10 | # while not rospy.is_shutdown(): 11 | print(type(input_dofs)) 12 | msg = TPHSMMQueryTrigger() 13 | msg.tphsmm_name = tphsmm_name 14 | msg.input_dofs = input_dofs 15 | msg.input = input 16 | print("Message Generated") 17 | rospy.loginfo(msg) 18 | pub.publish(msg) 19 | # rate.sleep() 20 | 21 | if __name__ == '__main__': 22 | try: 23 | if len(sys.argv) == 4: 24 | tphsmm_name = str(sys.argv[1]) 25 | input_dofs = int(sys.argv[2]) 26 | input_str = list(sys.argv[3].split(',')) 27 | input = [int(i) for i in input_str] 28 | tphsmm_query_caller(tphsmm_name, input_dofs, input) 29 | else: 30 | print('Error: More arguments required') 31 | except rospy.ROSInterruptException: 32 | pass 33 | -------------------------------------------------------------------------------- /src/TP-HSMM/tphsmm_query_listener.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import rospy 3 | import pickle 4 | import numpy as np 5 | from std_msgs.msg import String 6 | from movement_primitives.msg import * 7 | from tphsmm_v2 import * 8 | 9 | rospy.init_node('tphsmm_query_listener', anonymous=True) 10 | traj_pub = rospy.Publisher('RobotTraj', RobotTraj, queue_size=10) 11 | 12 | def callback(data): 13 | global traj_pub 14 | print(data.tphsmm_name, data.input_dofs, data.input) 15 | TPHSMM_SAVE_PATH = "/home/thejus/catkin_ws/src/movement_primitives/saved_primitives/TP-HSMM/" + data.tphsmm_name 16 | tphsmmfile = open(TPHSMM_SAVE_PATH, 'rb') 17 | tphsmm = pickle.load(tphsmmfile) 18 | tphsmmfile.close() 19 | rospy.loginfo("TP-HSMM Loaded") 20 | 21 | assert len(data.input) % data.input_dofs == 0 22 | query = [[]] 23 | for i in range(1,len(data.input)+1): 24 | query[-1].append(data.input[i-1]) 25 | if i%data.input_dofs == 0 and i != len(data.input): 26 | query.append([]) 27 | print(query) 28 | output_traj = tphsmm.predict(query) 29 | 30 | msg = RobotTraj() 31 | msg.robot_dofs = output_traj.shape[1] 32 | msg.traj = output_traj.reshape((output_traj.shape[0]*output_traj.shape[1],)) 33 | traj_pub.publish(msg) 34 | plotTraj(output_traj, query) 35 | tphsmm_query_listener() 36 | 37 | 38 | def tphsmm_query_listener(): 39 | rospy.Subscriber("tphsmm_query", TPHSMMQueryTrigger, callback) 40 | print('Ready for call to query TP-HSMM.') 41 | rospy.spin() 42 | 43 | if __name__ == '__main__': 44 | tphsmm_query_listener() 45 | -------------------------------------------------------------------------------- /src/TP-HSMM/tphsmm_train_caller.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import rospy 3 | from std_msgs.msg import String 4 | from movement_primitives.msg import * 5 | 6 | def tphsmm_train_caller(promp_name, path_to_data, num_demos, num_frames): 7 | pub = rospy.Publisher('tphsmm_train', TPHSMMTrainMsg, queue_size=10) 8 | rospy.init_node('tphsmm_train', anonymous=True) 9 | rate = rospy.Rate(10) # 10hz 10 | # while not rospy.is_shutdown(): 11 | msg = TPHSMMTrainMsg() 12 | msg.tphsmm_name = promp_name 13 | msg.path_to_data = path_to_data 14 | msg.num_demos = num_demos 15 | msg.num_frames = num_frames 16 | rospy.loginfo(msg) 17 | pub.publish(msg) 18 | # rate.sleep() 19 | 20 | if __name__ == '__main__': 21 | try: 22 | if len(sys.argv) == 5: 23 | promp_name = str(sys.argv[1]) 24 | path_to_data = str(sys.argv[2]) 25 | num_demos = int(sys.argv[3]) 26 | num_frames = int(sys.argv[4]) 27 | tphsmm_train_caller(promp_name, path_to_data, num_demos, num_frames) 28 | else: 29 | print('Error: More arguments required') 30 | except rospy.ROSInterruptException: 31 | pass 32 | -------------------------------------------------------------------------------- /src/TP-HSMM/tphsmm_train_listener.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import rospy 3 | import pickle 4 | from std_msgs.msg import String 5 | from movement_primitives.msg import * 6 | from tphsmm_v2 import * 7 | 8 | def callback(data): 9 | rospy.loginfo("I heard %s, %s, %d, %d", data.tphsmm_name, data.path_to_data, data.num_demos, data.num_frames) 10 | data_addr = data.path_to_data 11 | ndemos = data.num_demos #len(os.listdir(data_addr)) 12 | data_addr = data_addr+"/" #ProMP() requires that there be a '/' after the name of the target folder 13 | tphsmm = TP_HSMM(data_addr=data_addr, num_frames=data.num_frames, ndemos=ndemos) 14 | rospy.loginfo("TP-HSMM Trained. Saving...") 15 | 16 | TPHSMM_SAVE_PATH = "/home/thejus/catkin_ws/src/movement_primitives/saved_primitives/TP-HSMM/" + data.tphsmm_name 17 | outfile = open(TPHSMM_SAVE_PATH, 'wb') 18 | pickle.dump(tphsmm,outfile) 19 | outfile.close() 20 | rospy.loginfo("TP-HSMM saved in movement_primitives/saved_primitives/TP-HSMM under the name %s", data.tphsmm_name) 21 | tphsmm_train_listener() 22 | 23 | def tphsmm_train_listener(): 24 | rospy.init_node('tphsmm_listener', anonymous=True) 25 | rospy.Subscriber('tphsmm_train', TPHSMMTrainMsg, callback) 26 | print('Ready for call to train ProMP') 27 | rospy.spin() 28 | 29 | if __name__ == '__main__': 30 | tphsmm_train_listener() 31 | -------------------------------------------------------------------------------- /src/TP-HSMM/tphsmm_v2.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/thejose5/movement-primitives/21034081ee58a1b21d4dac04a188db7bb5cf4f8c/src/TP-HSMM/tphsmm_v2.pyc -------------------------------------------------------------------------------- /srv/PrompTrain.srv: -------------------------------------------------------------------------------- 1 | string promp_name 2 | #string path_to_training_data 3 | ------------------ 4 | #uint32 step 5 | #uint32[] traj_data 6 | std_msgs/UInt32MultiArray traj_data 7 | -------------------------------------------------------------------------------- /training_data/KMP_div1000/3: -------------------------------------------------------------------------------- 1 | 0.1,0.89,0.37,0.0,0.0 2 | 0.2,0.89,0.37,0.0,0.0 3 | 0.30000000000000004,0.887,0.373,-0.03,0.03 4 | 0.4,0.881,0.381,-0.06,0.08 5 | 0.5,0.878,0.385,-0.03,0.04 6 | 0.6000000000000001,0.873,0.392,-0.05,0.07 7 | 0.7000000000000001,0.863,0.404,-0.1,0.12 8 | 0.8,0.848,0.415,-0.15,0.11 9 | 0.9,0.836,0.424,-0.12,0.09 10 | 1.0,0.827,0.431,-0.09,0.07 11 | 1.1,0.813,0.442,-0.14,0.11 12 | 1.2000000000000002,0.801,0.451,-0.12,0.09 13 | 1.3,0.79,0.46,-0.11,0.09 14 | 1.4000000000000001,0.775,0.47,-0.15,0.1 15 | 1.5,0.762,0.478,-0.13,0.08 16 | 1.6,0.752,0.484,-0.1,0.06 17 | 1.7000000000000002,0.742,0.492,-0.1,0.08 18 | 1.8,0.728,0.503,-0.14,0.11 19 | 1.9000000000000001,0.716,0.511,-0.12,0.08 20 | 2.0,0.702,0.521,-0.14,0.1 21 | 2.1,0.687,0.534,-0.15,0.13 22 | 2.2,0.669,0.55,-0.18,0.16 23 | 2.3000000000000003,0.642,0.573,-0.27,0.23 24 | 2.4000000000000004,0.629,0.589,-0.13,0.16 25 | 2.5,0.622,0.596,-0.07,0.07 26 | 2.6,0.614,0.609,-0.08,0.13 27 | 2.7,0.605,0.621,-0.09,0.12 28 | 2.8000000000000003,0.595,0.634,-0.1,0.13 29 | 2.9000000000000004,0.586,0.646,-0.09,0.12 30 | 3.0,0.576,0.658,-0.1,0.12 31 | 3.1,0.56,0.675,-0.16,0.17 32 | 3.2,0.553,0.684,-0.07,0.09 33 | 3.3000000000000003,0.547,0.693,-0.06,0.09 34 | 3.4000000000000004,0.54,0.706,-0.07,0.13 35 | 3.5,0.536,0.718,-0.04,0.12 36 | 3.6,0.532,0.726,-0.04,0.08 37 | 3.7,0.527,0.734,-0.05,0.08 38 | 3.8000000000000003,0.524,0.742,-0.03,0.08 39 | 3.9000000000000004,0.522,0.749,-0.02,0.07 40 | 4.0,0.519,0.76,-0.03,0.11 41 | 4.1000000000000005,0.514,0.77,-0.05,0.1 42 | 4.2,0.508,0.782,-0.06,0.12 43 | 4.3,0.498,0.797,-0.1,0.15 44 | 4.4,0.49,0.809,-0.08,0.12 45 | 4.5,0.489,0.815,-0.01,0.06 46 | 4.6000000000000005,0.484,0.822,-0.05,0.07 47 | 4.7,0.483,0.827,-0.01,0.05 48 | 4.800000000000001,0.483,0.836,0.0,0.09 49 | 4.9,0.484,0.843,0.01,0.07 50 | 5.0,0.486,0.849,0.02,0.06 51 | 5.1000000000000005,0.488,0.853,0.02,0.04 52 | 5.2,0.491,0.86,0.03,0.07 53 | 5.300000000000001,0.494,0.865,0.03,0.05 54 | 5.4,0.496,0.871,0.02,0.06 55 | 5.5,0.498,0.879,0.02,0.08 56 | 5.6000000000000005,0.498,0.892,0.0,0.13 57 | 5.7,0.497,0.902,-0.01,0.1 58 | 5.800000000000001,0.497,0.907,0.0,0.05 59 | 5.9,0.497,0.917,0.0,0.1 60 | 6.0,0.497,0.92,0.0,0.03 61 | 6.1000000000000005,0.499,0.925,0.02,0.05 62 | 6.2,0.503,0.93,0.04,0.05 63 | 6.300000000000001,0.508,0.935,0.05,0.05 64 | 6.4,0.518,0.942,0.1,0.07 65 | 6.5,0.532,0.949,0.14,0.07 66 | 6.6000000000000005,0.542,0.952,0.1,0.03 67 | 6.7,0.552,0.955,0.1,0.03 68 | 6.800000000000001,0.562,0.958,0.1,0.03 69 | 6.9,0.569,0.959,0.07,0.01 70 | 7.0,0.58,0.96,0.11,0.01 71 | 7.1000000000000005,0.601,0.961,0.21,0.01 72 | 7.2,0.621,0.962,0.2,0.01 73 | 7.300000000000001,0.632,0.96,0.11,-0.02 74 | 7.4,0.653,0.956,0.21,-0.04 75 | 7.5,0.672,0.953,0.19,-0.03 76 | 7.6000000000000005,0.687,0.95,0.15,-0.03 77 | 7.7,0.704,0.946,0.17,-0.04 78 | 7.800000000000001,0.734,0.944,0.3,-0.02 79 | 7.9,0.758,0.94,0.24,-0.04 80 | 8.0,0.783,0.933,0.25,-0.07 81 | 8.1,0.811,0.929,0.28,-0.04 82 | 8.200000000000001,0.836,0.924,0.25,-0.05 83 | 8.3,0.873,0.919,0.37,-0.05 84 | 8.4,0.907,0.915,0.34,-0.04 85 | 8.5,0.946,0.912,0.39,-0.03 86 | 8.6,0.988,0.907,0.42,-0.05 87 | 8.700000000000001,1.012,0.903,0.24,-0.04 88 | 8.8,1.053,0.899,0.41,-0.04 89 | 8.9,1.083,0.894,0.3,-0.05 90 | 9.0,1.116,0.893,0.33,-0.01 91 | 9.1,1.135,0.889,0.19,-0.04 92 | 9.200000000000001,1.156,0.887,0.21,-0.02 93 | 9.3,1.171,0.887,0.15,0.0 94 | 9.4,1.187,0.884,0.16,-0.03 95 | 9.5,1.209,0.881,0.22,-0.03 96 | 9.600000000000001,1.229,0.878,0.2,-0.03 97 | 9.700000000000001,1.247,0.872,0.18,-0.06 98 | 9.8,1.267,0.869,0.2,-0.03 99 | 9.9,1.277,0.868,0.1,-0.01 100 | 10.0,1.294,0.863,0.17,-0.05 101 | 10.100000000000001,1.309,0.858,0.15,-0.05 102 | 10.200000000000001,1.32,0.853,0.11,-0.05 103 | 10.3,1.332,0.846,0.12,-0.07 104 | 10.4,1.346,0.841,0.14,-0.05 105 | 10.5,1.352,0.837,0.06,-0.04 106 | 10.600000000000001,1.365,0.832,0.13,-0.05 107 | 10.700000000000001,1.376,0.827,0.11,-0.05 108 | 10.8,1.388,0.823,0.12,-0.04 109 | 10.9,1.395,0.82,0.07,-0.03 110 | 11.0,1.411,0.815,0.16,-0.05 111 | 11.100000000000001,1.423,0.812,0.12,-0.03 112 | 11.200000000000001,1.429,0.808,0.06,-0.04 113 | 11.3,1.433,0.805,0.04,-0.03 114 | 11.4,1.435,0.801,0.02,-0.04 115 | 11.5,1.438,0.798,0.03,-0.03 116 | 11.600000000000001,1.447,0.792,0.09,-0.06 117 | 11.700000000000001,1.457,0.787,0.1,-0.05 118 | 11.8,1.464,0.781,0.07,-0.06 119 | 11.9,1.471,0.776,0.07,-0.05 120 | 12.0,1.479,0.773,0.08,-0.03 121 | 12.100000000000001,1.482,0.771,0.03,-0.02 122 | 12.200000000000001,1.484,0.77,0.02,-0.01 123 | 12.3,1.492,0.765,0.08,-0.05 124 | 12.4,1.496,0.76,0.04,-0.05 125 | 12.5,1.499,0.757,0.03,-0.03 126 | 12.600000000000001,1.5,0.752,0.01,-0.05 127 | 12.700000000000001,1.502,0.743,0.02,-0.09 128 | 12.8,1.504,0.733,0.02,-0.1 129 | 12.9,1.502,0.721,-0.02,-0.12 130 | 13.0,1.499,0.708,-0.03,-0.13 131 | 13.100000000000001,1.496,0.7,-0.03,-0.08 132 | 13.200000000000001,1.492,0.694,-0.04,-0.06 133 | 13.3,1.486,0.684,-0.06,-0.1 134 | 13.4,1.479,0.673,-0.07,-0.11 135 | 13.5,1.465,0.659,-0.14,-0.14 136 | 13.600000000000001,1.449,0.643,-0.16,-0.16 137 | 13.700000000000001,1.438,0.63,-0.11,-0.13 138 | 13.8,1.427,0.62,-0.11,-0.1 139 | 13.9,1.416,0.61,-0.11,-0.1 140 | 14.0,1.406,0.604,-0.1,-0.06 141 | 14.100000000000001,1.387,0.594,-0.19,-0.1 142 | 14.200000000000001,1.366,0.582,-0.21,-0.12 143 | 14.3,1.342,0.567,-0.24,-0.15 144 | 14.4,1.318,0.554,-0.24,-0.13 145 | 14.5,1.298,0.545,-0.2,-0.09 146 | 14.600000000000001,1.279,0.536,-0.19,-0.09 147 | 14.700000000000001,1.264,0.53,-0.15,-0.06 148 | 14.8,1.247,0.521,-0.17,-0.09 149 | 14.9,1.231,0.511,-0.16,-0.1 150 | 15.0,1.215,0.502,-0.16,-0.09 151 | 15.100000000000001,1.196,0.492,-0.19,-0.1 152 | 15.200000000000001,1.183,0.485,-0.13,-0.07 153 | 15.3,1.169,0.477,-0.14,-0.08 154 | 15.4,1.156,0.469,-0.13,-0.08 155 | 15.5,1.142,0.459,-0.14,-0.1 156 | 15.600000000000001,1.13,0.452,-0.12,-0.07 157 | 15.700000000000001,1.114,0.44,-0.16,-0.12 158 | 15.8,1.105,0.433,-0.09,-0.07 159 | 15.9,1.094,0.424,-0.11,-0.09 160 | 16.0,1.086,0.417,-0.08,-0.07 161 | 16.1,1.082,0.412,-0.04,-0.05 162 | 16.2,1.078,0.407,-0.04,-0.05 163 | 16.3,1.075,0.403,-0.03,-0.04 164 | 16.400000000000002,1.071,0.397,-0.04,-0.06 165 | 16.5,1.067,0.39,-0.04,-0.07 166 | 16.6,1.063,0.382,-0.04,-0.08 167 | 16.7,1.06,0.375,-0.03,-0.07 168 | 16.8,1.059,0.371,-0.01,-0.04 169 | 16.900000000000002,1.059,0.369,0.0,-0.02 170 | -------------------------------------------------------------------------------- /training_data/KMP_div1000/5: -------------------------------------------------------------------------------- 1 | 0.1,0.886,0.37,0.0,0.0 2 | 0.2,0.884,0.372,-0.02,0.02 3 | 0.30000000000000004,0.876,0.381,-0.08,0.09 4 | 0.4,0.849,0.406,-0.27,0.25 5 | 0.5,0.831,0.43,-0.18,0.24 6 | 0.6000000000000001,0.816,0.452,-0.15,0.22 7 | 0.7000000000000001,0.809,0.464,-0.07,0.12 8 | 0.8,0.806,0.469,-0.03,0.05 9 | 0.9,0.803,0.473,-0.03,0.04 10 | 1.0,0.8,0.474,-0.03,0.01 11 | 1.1,0.791,0.48,-0.09,0.06 12 | 1.2000000000000002,0.778,0.492,-0.13,0.12 13 | 1.3,0.766,0.504,-0.12,0.12 14 | 1.4000000000000001,0.763,0.508,-0.03,0.04 15 | 1.5,0.758,0.515,-0.05,0.07 16 | 1.6,0.751,0.524,-0.07,0.09 17 | 1.7000000000000002,0.748,0.529,-0.03,0.05 18 | 1.8,0.742,0.534,-0.06,0.05 19 | 1.9000000000000001,0.729,0.545,-0.13,0.11 20 | 2.0,0.719,0.556,-0.1,0.11 21 | 2.1,0.713,0.562,-0.06,0.06 22 | 2.2,0.707,0.567,-0.06,0.05 23 | 2.3000000000000003,0.698,0.574,-0.09,0.07 24 | 2.4000000000000004,0.693,0.579,-0.05,0.05 25 | 2.5,0.686,0.585,-0.07,0.06 26 | 2.6,0.677,0.597,-0.09,0.12 27 | 2.7,0.668,0.608,-0.09,0.11 28 | 2.8000000000000003,0.659,0.62,-0.09,0.12 29 | 2.9000000000000004,0.65,0.632,-0.09,0.12 30 | 3.0,0.642,0.642,-0.08,0.1 31 | 3.1,0.635,0.652,-0.07,0.1 32 | 3.2,0.632,0.656,-0.03,0.04 33 | 3.3000000000000003,0.626,0.665,-0.06,0.09 34 | 3.4000000000000004,0.617,0.676,-0.09,0.11 35 | 3.5,0.61,0.687,-0.07,0.11 36 | 3.6,0.603,0.696,-0.07,0.09 37 | 3.7,0.595,0.706,-0.08,0.1 38 | 3.8000000000000003,0.594,0.709,-0.01,0.03 39 | 3.9000000000000004,0.592,0.713,-0.02,0.04 40 | 4.0,0.584,0.725,-0.08,0.12 41 | 4.1000000000000005,0.576,0.736,-0.08,0.11 42 | 4.2,0.568,0.745,-0.08,0.09 43 | 4.3,0.561,0.755,-0.07,0.1 44 | 4.4,0.551,0.766,-0.1,0.11 45 | 4.5,0.545,0.773,-0.06,0.07 46 | 4.6000000000000005,0.539,0.781,-0.06,0.08 47 | 4.7,0.531,0.792,-0.08,0.11 48 | 4.800000000000001,0.524,0.803,-0.07,0.11 49 | 4.9,0.518,0.81,-0.06,0.07 50 | 5.0,0.509,0.821,-0.09,0.11 51 | 5.1000000000000005,0.504,0.83,-0.05,0.09 52 | 5.2,0.497,0.841,-0.07,0.11 53 | 5.300000000000001,0.494,0.849,-0.03,0.08 54 | 5.4,0.492,0.856,-0.02,0.07 55 | 5.5,0.487,0.865,-0.05,0.09 56 | 5.6000000000000005,0.487,0.869,0.0,0.04 57 | 5.7,0.486,0.871,-0.01,0.02 58 | 5.800000000000001,0.487,0.883,0.01,0.12 59 | 5.9,0.487,0.89,0.0,0.07 60 | 6.0,0.491,0.895,0.04,0.05 61 | 6.1000000000000005,0.497,0.901,0.06,0.06 62 | 6.2,0.504,0.904,0.07,0.03 63 | 6.300000000000001,0.514,0.907,0.1,0.03 64 | 6.4,0.52,0.908,0.06,0.01 65 | 6.5,0.528,0.909,0.08,0.01 66 | 6.6000000000000005,0.536,0.911,0.08,0.02 67 | 6.7,0.545,0.914,0.09,0.03 68 | 6.800000000000001,0.556,0.917,0.11,0.03 69 | 6.9,0.572,0.92,0.16,0.03 70 | 7.0,0.585,0.922,0.13,0.02 71 | 7.1000000000000005,0.603,0.924,0.18,0.02 72 | 7.2,0.617,0.926,0.14,0.02 73 | 7.300000000000001,0.637,0.927,0.2,0.01 74 | 7.4,0.656,0.924,0.19,-0.03 75 | 7.5,0.676,0.923,0.2,-0.01 76 | 7.6000000000000005,0.694,0.921,0.18,-0.02 77 | 7.7,0.715,0.918,0.21,-0.03 78 | 7.800000000000001,0.739,0.917,0.24,-0.01 79 | 7.9,0.761,0.916,0.22,-0.01 80 | 8.0,0.789,0.914,0.28,-0.02 81 | 8.1,0.815,0.91,0.26,-0.04 82 | 8.200000000000001,0.829,0.908,0.14,-0.02 83 | 8.3,0.847,0.903,0.18,-0.05 84 | 8.4,0.867,0.9,0.2,-0.03 85 | 8.5,0.882,0.897,0.15,-0.03 86 | 8.6,0.901,0.893,0.19,-0.04 87 | 8.700000000000001,0.915,0.891,0.14,-0.02 88 | 8.8,0.931,0.887,0.16,-0.04 89 | 8.9,0.947,0.882,0.16,-0.05 90 | 9.0,0.961,0.877,0.14,-0.05 91 | 9.1,0.98,0.873,0.19,-0.04 92 | 9.200000000000001,0.995,0.867,0.15,-0.06 93 | 9.3,1.015,0.863,0.2,-0.04 94 | 9.4,1.027,0.861,0.12,-0.02 95 | 9.5,1.044,0.86,0.17,-0.01 96 | 9.600000000000001,1.069,0.86,0.25,0.0 97 | 9.700000000000001,1.08,0.858,0.11,-0.02 98 | 9.8,1.101,0.858,0.21,0.0 99 | 9.9,1.115,0.858,0.14,0.0 100 | 10.0,1.115,0.858,0.0,0.0 101 | 10.100000000000001,1.132,0.857,0.17,-0.01 102 | 10.200000000000001,1.145,0.856,0.13,-0.01 103 | 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1277,1141,340,1085,1462,1134 104 | 1282,1139,340,1085,1462,1134 105 | 1290,1138,340,1085,1462,1134 106 | 1296,1137,340,1085,1462,1134 107 | 1306,1136,340,1085,1462,1134 108 | 1321,1135,340,1085,1462,1134 109 | 1332,1134,340,1085,1462,1134 110 | 1342,1134,340,1085,1462,1134 111 | 1350,1134,340,1085,1462,1134 112 | 1359,1134,340,1085,1462,1134 113 | 1365,1133,340,1085,1462,1134 114 | 1373,1133,340,1085,1462,1134 115 | 1388,1133,340,1085,1462,1134 116 | 1403,1133,340,1085,1462,1134 117 | 1411,1133,340,1085,1462,1134 118 | 1417,1133,340,1085,1462,1134 119 | 1422,1133,340,1085,1462,1134 120 | 1422,1133,340,1085,1462,1134 121 | 1426,1133,340,1085,1462,1134 122 | 1438,1135,340,1085,1462,1134 123 | 1444,1136,340,1085,1462,1134 124 | 1444,1136,340,1085,1462,1134 125 | 1444,1136,340,1085,1462,1134 126 | 1444,1136,340,1085,1462,1134 127 | 1444,1136,340,1085,1462,1134 128 | 1445,1136,340,1085,1462,1134 129 | 1450,1135,340,1085,1462,1134 130 | 1458,1134,340,1085,1462,1134 131 | 1463,1134,340,1085,1462,1134 132 | 1464,1134,340,1085,1462,1134 133 | 1464,1134,340,1085,1462,1134 134 | 1464,1134,340,1085,1462,1134 135 | 1464,1134,340,1085,1462,1134 136 | 1464,1134,340,1085,1462,1134 137 | 1464,1133,340,1085,1462,1134 138 | -------------------------------------------------------------------------------- /training_data/TP-HSMM_2frame/2: -------------------------------------------------------------------------------- 1 | 448,946,451,943,1318,893 2 | 448,946,451,943,1318,893 3 | 448,946,451,943,1318,893 4 | 448,946,451,943,1318,893 5 | 448,946,451,943,1318,893 6 | 448,946,451,943,1318,893 7 | 449,946,451,943,1318,893 8 | 466,943,451,943,1318,893 9 | 494,942,451,943,1318,893 10 | 509,942,451,943,1318,893 11 | 521,942,451,943,1318,893 12 | 531,942,451,943,1318,893 13 | 541,943,451,943,1318,893 14 | 551,943,451,943,1318,893 15 | 556,943,451,943,1318,893 16 | 567,943,451,943,1318,893 17 | 575,943,451,943,1318,893 18 | 585,942,451,943,1318,893 19 | 598,943,451,943,1318,893 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1281,899,451,943,1318,893 86 | 1285,900,451,943,1318,893 87 | 1286,900,451,943,1318,893 88 | 1287,899,451,943,1318,893 89 | 1289,899,451,943,1318,893 90 | 1291,898,451,943,1318,893 91 | 1296,897,451,943,1318,893 92 | 1299,896,451,943,1318,893 93 | 1303,895,451,943,1318,893 94 | 1308,895,451,943,1318,893 95 | 1311,894,451,943,1318,893 96 | 1312,894,451,943,1318,893 97 | 1312,894,451,943,1318,893 98 | 1312,894,451,943,1318,893 99 | 1312,894,451,943,1318,893 100 | 1312,894,451,943,1318,893 101 | 1312,894,451,943,1318,893 102 | 1312,894,451,943,1318,893 103 | 1312,894,451,943,1318,893 104 | -------------------------------------------------------------------------------- /training_data/TP-HSMM_2frame/3: -------------------------------------------------------------------------------- 1 | 590,1089,586,1092,1620,1173 2 | 590,1089,586,1092,1620,1173 3 | 590,1089,586,1092,1620,1173 4 | 590,1089,586,1092,1620,1173 5 | 590,1089,586,1092,1620,1173 6 | 590,1089,586,1092,1620,1173 7 | 590,1089,586,1092,1620,1173 8 | 590,1088,586,1092,1620,1173 9 | 609,1092,586,1092,1620,1173 10 | 646,1097,586,1092,1620,1173 11 | 676,1100,586,1092,1620,1173 12 | 708,1101,586,1092,1620,1173 13 | 724,1100,586,1092,1620,1173 14 | 735,1098,586,1092,1620,1173 15 | 753,1091,586,1092,1620,1173 16 | 764,1086,586,1092,1620,1173 17 | 775,1079,586,1092,1620,1173 18 | 784,1074,586,1092,1620,1173 19 | 799,1067,586,1092,1620,1173 20 | 810,1060,586,1092,1620,1173 21 | 820,1055,586,1092,1620,1173 22 | 832,1050,586,1092,1620,1173 23 | 843,1045,586,1092,1620,1173 24 | 852,1043,586,1092,1620,1173 25 | 863,1039,586,1092,1620,1173 26 | 871,1037,586,1092,1620,1173 27 | 882,1036,586,1092,1620,1173 28 | 891,1034,586,1092,1620,1173 29 | 901,1032,586,1092,1620,1173 30 | 913,1032,586,1092,1620,1173 31 | 923,1031,586,1092,1620,1173 32 | 939,1031,586,1092,1620,1173 33 | 952,1030,586,1092,1620,1173 34 | 962,1030,586,1092,1620,1173 35 | 970,1031,586,1092,1620,1173 36 | 986,1032,586,1092,1620,1173 37 | 1000,1033,586,1092,1620,1173 38 | 1011,1034,586,1092,1620,1173 39 | 1024,1035,586,1092,1620,1173 40 | 1040,1038,586,1092,1620,1173 41 | 1052,1041,586,1092,1620,1173 42 | 1067,1045,586,1092,1620,1173 43 | 1078,1047,586,1092,1620,1173 44 | 1096,1053,586,1092,1620,1173 45 | 1111,1060,586,1092,1620,1173 46 | 1131,1066,586,1092,1620,1173 47 | 1149,1073,586,1092,1620,1173 48 | 1163,1079,586,1092,1620,1173 49 | 1179,1085,586,1092,1620,1173 50 | 1192,1089,586,1092,1620,1173 51 | 1208,1095,586,1092,1620,1173 52 | 1222,1099,586,1092,1620,1173 53 | 1242,1104,586,1092,1620,1173 54 | 1266,1110,586,1092,1620,1173 55 | 1284,1113,586,1092,1620,1173 56 | 1304,1117,586,1092,1620,1173 57 | 1315,1119,586,1092,1620,1173 58 | 1329,1121,586,1092,1620,1173 59 | 1339,1125,586,1092,1620,1173 60 | 1346,1126,586,1092,1620,1173 61 | 1355,1129,586,1092,1620,1173 62 | 1367,1133,586,1092,1620,1173 63 | 1375,1136,586,1092,1620,1173 64 | 1384,1138,586,1092,1620,1173 65 | 1390,1140,586,1092,1620,1173 66 | 1399,1143,586,1092,1620,1173 67 | 1414,1147,586,1092,1620,1173 68 | 1426,1150,586,1092,1620,1173 69 | 1441,1152,586,1092,1620,1173 70 | 1453,1154,586,1092,1620,1173 71 | 1459,1154,586,1092,1620,1173 72 | 1464,1154,586,1092,1620,1173 73 | 1469,1154,586,1092,1620,1173 74 | 1475,1155,586,1092,1620,1173 75 | 1480,1156,586,1092,1620,1173 76 | 1492,1159,586,1092,1620,1173 77 | 1505,1162,586,1092,1620,1173 78 | 1514,1163,586,1092,1620,1173 79 | 1526,1164,586,1092,1620,1173 80 | 1535,1166,586,1092,1620,1173 81 | 1543,1167,586,1092,1620,1173 82 | 1546,1167,586,1092,1620,1173 83 | 1553,1167,586,1092,1620,1173 84 | 1562,1169,586,1092,1620,1173 85 | 1571,1170,586,1092,1620,1173 86 | 1571,1170,586,1092,1620,1173 87 | 1571,1170,586,1092,1620,1173 88 | 1571,1170,586,1092,1620,1173 89 | 1573,1170,586,1092,1620,1173 90 | 1581,1171,586,1092,1620,1173 91 | 1587,1172,586,1092,1620,1173 92 | 1590,1172,586,1092,1620,1173 93 | 1590,1172,586,1092,1620,1173 94 | 1590,1172,586,1092,1620,1173 95 | 1596,1173,586,1092,1620,1173 96 | 1601,1174,586,1092,1620,1173 97 | 1607,1175,586,1092,1620,1173 98 | 1610,1176,586,1092,1620,1173 99 | 1613,1176,586,1092,1620,1173 100 | 1615,1176,586,1092,1620,1173 101 | 1616,1176,586,1092,1620,1173 102 | 1616,1176,586,1092,1620,1173 103 | 1616,1176,586,1092,1620,1173 104 | 1616,1176,586,1092,1620,1173 105 | 1616,1176,586,1092,1620,1173 106 | -------------------------------------------------------------------------------- /training_data/TP-HSMM_2frame/4: -------------------------------------------------------------------------------- 1 | 364,1188,368,1188,1681,1002 2 | 364,1188,368,1188,1681,1002 3 | 364,1188,368,1188,1681,1002 4 | 364,1188,368,1188,1681,1002 5 | 364,1188,368,1188,1681,1002 6 | 364,1188,368,1188,1681,1002 7 | 366,1189,368,1188,1681,1002 8 | 376,1189,368,1188,1681,1002 9 | 389,1189,368,1188,1681,1002 10 | 398,1189,368,1188,1681,1002 11 | 408,1188,368,1188,1681,1002 12 | 418,1186,368,1188,1681,1002 13 | 428,1183,368,1188,1681,1002 14 | 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-------------------------------------------------------------------------------- 1 | 409,1104,408,1103,1581,1063 2 | 409,1104,408,1103,1581,1063 3 | 409,1104,408,1103,1581,1063 4 | 409,1104,408,1103,1581,1063 5 | 409,1104,408,1103,1581,1063 6 | 409,1104,408,1103,1581,1063 7 | 412,1104,408,1103,1581,1063 8 | 432,1104,408,1103,1581,1063 9 | 455,1106,408,1103,1581,1063 10 | 466,1108,408,1103,1581,1063 11 | 474,1109,408,1103,1581,1063 12 | 481,1110,408,1103,1581,1063 13 | 488,1109,408,1103,1581,1063 14 | 500,1110,408,1103,1581,1063 15 | 515,1110,408,1103,1581,1063 16 | 526,1110,408,1103,1581,1063 17 | 539,1110,408,1103,1581,1063 18 | 548,1110,408,1103,1581,1063 19 | 558,1110,408,1103,1581,1063 20 | 565,1111,408,1103,1581,1063 21 | 573,1112,408,1103,1581,1063 22 | 585,1112,408,1103,1581,1063 23 | 596,1112,408,1103,1581,1063 24 | 613,1113,408,1103,1581,1063 25 | 628,1113,408,1103,1581,1063 26 | 640,1114,408,1103,1581,1063 27 | 652,1114,408,1103,1581,1063 28 | 665,1114,408,1103,1581,1063 29 | 674,1114,408,1103,1581,1063 30 | 687,1114,408,1103,1581,1063 31 | 702,1114,408,1103,1581,1063 32 | 713,1114,408,1103,1581,1063 33 | 725,1113,408,1103,1581,1063 34 | 742,1112,408,1103,1581,1063 35 | 757,1111,408,1103,1581,1063 36 | 774,1109,408,1103,1581,1063 37 | 787,1107,408,1103,1581,1063 38 | 798,1104,408,1103,1581,1063 39 | 813,1103,408,1103,1581,1063 40 | 827,1101,408,1103,1581,1063 41 | 835,1101,408,1103,1581,1063 42 | 848,1100,408,1103,1581,1063 43 | 864,1099,408,1103,1581,1063 44 | 874,1098,408,1103,1581,1063 45 | 889,1097,408,1103,1581,1063 46 | 906,1096,408,1103,1581,1063 47 | 918,1095,408,1103,1581,1063 48 | 936,1094,408,1103,1581,1063 49 | 950,1092,408,1103,1581,1063 50 | 973,1090,408,1103,1581,1063 51 | 990,1086,408,1103,1581,1063 52 | 1002,1084,408,1103,1581,1063 53 | 1012,1082,408,1103,1581,1063 54 | 1029,1077,408,1103,1581,1063 55 | 1046,1072,408,1103,1581,1063 56 | 1059,1068,408,1103,1581,1063 57 | 1082,1065,408,1103,1581,1063 58 | 1100,1061,408,1103,1581,1063 59 | 1118,1060,408,1103,1581,1063 60 | 1128,1059,408,1103,1581,1063 61 | 1137,1058,408,1103,1581,1063 62 | 1144,1057,408,1103,1581,1063 63 | 1155,1057,408,1103,1581,1063 64 | 1167,1057,408,1103,1581,1063 65 | 1177,1056,408,1103,1581,1063 66 | 1190,1055,408,1103,1581,1063 67 | 1199,1055,408,1103,1581,1063 68 | 1206,1055,408,1103,1581,1063 69 | 1222,1055,408,1103,1581,1063 70 | 1242,1056,408,1103,1581,1063 71 | 1258,1056,408,1103,1581,1063 72 | 1283,1056,408,1103,1581,1063 73 | 1306,1056,408,1103,1581,1063 74 | 1319,1056,408,1103,1581,1063 75 | 1333,1056,408,1103,1581,1063 76 | 1350,1056,408,1103,1581,1063 77 | 1360,1056,408,1103,1581,1063 78 | 1372,1056,408,1103,1581,1063 79 | 1384,1056,408,1103,1581,1063 80 | 1395,1056,408,1103,1581,1063 81 | 1408,1056,408,1103,1581,1063 82 | 1419,1056,408,1103,1581,1063 83 | 1431,1058,408,1103,1581,1063 84 | 1449,1058,408,1103,1581,1063 85 | 1460,1059,408,1103,1581,1063 86 | 1461,1059,408,1103,1581,1063 87 | 1465,1059,408,1103,1581,1063 88 | 1472,1059,408,1103,1581,1063 89 | 1479,1060,408,1103,1581,1063 90 | 1487,1060,408,1103,1581,1063 91 | 1495,1060,408,1103,1581,1063 92 | 1501,1060,408,1103,1581,1063 93 | 1509,1060,408,1103,1581,1063 94 | 1515,1060,408,1103,1581,1063 95 | 1522,1061,408,1103,1581,1063 96 | 1534,1062,408,1103,1581,1063 97 | 1536,1063,408,1103,1581,1063 98 | 1536,1063,408,1103,1581,1063 99 | 1536,1063,408,1103,1581,1063 100 | 1538,1062,408,1103,1581,1063 101 | 1541,1061,408,1103,1581,1063 102 | 1542,1061,408,1103,1581,1063 103 | 1546,1061,408,1103,1581,1063 104 | 1549,1060,408,1103,1581,1063 105 | 1550,1060,408,1103,1581,1063 106 | 1554,1060,408,1103,1581,1063 107 | 1555,1060,408,1103,1581,1063 108 | 1556,1060,408,1103,1581,1063 109 | 1560,1060,408,1103,1581,1063 110 | 1561,1060,408,1103,1581,1063 111 | 1561,1060,408,1103,1581,1063 112 | 1561,1060,408,1103,1581,1063 113 | 1561,1060,408,1103,1581,1063 114 | 1561,1060,408,1103,1581,1063 115 | 1563,1061,408,1103,1581,1063 116 | 1567,1062,408,1103,1581,1063 117 | 1571,1063,408,1103,1581,1063 118 | 1573,1063,408,1103,1581,1063 119 | 1573,1063,408,1103,1581,1063 120 | 1573,1063,408,1103,1581,1063 121 | 1576,1063,408,1103,1581,1063 122 | 1577,1063,408,1103,1581,1063 123 | 1577,1063,408,1103,1581,1063 124 | 1577,1063,408,1103,1581,1063 125 | -------------------------------------------------------------------------------- /training_data/TP-HSMM_2frame/9: -------------------------------------------------------------------------------- 1 | 634,875,631,880,1461,1048 2 | 634,875,631,880,1461,1048 3 | 634,875,631,880,1461,1048 4 | 634,875,631,880,1461,1048 5 | 634,875,631,880,1461,1048 6 | 635,875,631,880,1461,1048 7 | 635,875,631,880,1461,1048 8 | 637,875,631,880,1461,1048 9 | 644,875,631,880,1461,1048 10 | 656,874,631,880,1461,1048 11 | 665,874,631,880,1461,1048 12 | 675,873,631,880,1461,1048 13 | 683,872,631,880,1461,1048 14 | 689,872,631,880,1461,1048 15 | 698,871,631,880,1461,1048 16 | 705,870,631,880,1461,1048 17 | 715,870,631,880,1461,1048 18 | 725,870,631,880,1461,1048 19 | 733,870,631,880,1461,1048 20 | 745,870,631,880,1461,1048 21 | 754,871,631,880,1461,1048 22 | 767,872,631,880,1461,1048 23 | 779,874,631,880,1461,1048 24 | 789,875,631,880,1461,1048 25 | 802,877,631,880,1461,1048 26 | 811,879,631,880,1461,1048 27 | 821,881,631,880,1461,1048 28 | 829,884,631,880,1461,1048 29 | 835,886,631,880,1461,1048 30 | 846,889,631,880,1461,1048 31 | 856,892,631,880,1461,1048 32 | 859,894,631,880,1461,1048 33 | 861,894,631,880,1461,1048 34 | 865,896,631,880,1461,1048 35 | 874,899,631,880,1461,1048 36 | 883,903,631,880,1461,1048 37 | 895,909,631,880,1461,1048 38 | 904,912,631,880,1461,1048 39 | 914,916,631,880,1461,1048 40 | 931,921,631,880,1461,1048 41 | 945,928,631,880,1461,1048 42 | 952,930,631,880,1461,1048 43 | 966,934,631,880,1461,1048 44 | 977,935,631,880,1461,1048 45 | 990,938,631,880,1461,1048 46 | 1001,941,631,880,1461,1048 47 | 1011,944,631,880,1461,1048 48 | 1020,945,631,880,1461,1048 49 | 1026,947,631,880,1461,1048 50 | 1029,948,631,880,1461,1048 51 | 1037,950,631,880,1461,1048 52 | 1049,952,631,880,1461,1048 53 | 1058,955,631,880,1461,1048 54 | 1069,959,631,880,1461,1048 55 | 1077,963,631,880,1461,1048 56 | 1088,968,631,880,1461,1048 57 | 1097,972,631,880,1461,1048 58 | 1108,978,631,880,1461,1048 59 | 1119,983,631,880,1461,1048 60 | 1127,986,631,880,1461,1048 61 | 1141,991,631,880,1461,1048 62 | 1154,996,631,880,1461,1048 63 | 1164,999,631,880,1461,1048 64 | 1174,1002,631,880,1461,1048 65 | 1180,1005,631,880,1461,1048 66 | 1190,1008,631,880,1461,1048 67 | 1198,1010,631,880,1461,1048 68 | 1203,1010,631,880,1461,1048 69 | 1210,1012,631,880,1461,1048 70 | 1216,1013,631,880,1461,1048 71 | 1221,1014,631,880,1461,1048 72 | 1231,1016,631,880,1461,1048 73 | 1241,1019,631,880,1461,1048 74 | 1256,1022,631,880,1461,1048 75 | 1270,1024,631,880,1461,1048 76 | 1279,1025,631,880,1461,1048 77 | 1293,1029,631,880,1461,1048 78 | 1309,1032,631,880,1461,1048 79 | 1316,1032,631,880,1461,1048 80 | 1323,1032,631,880,1461,1048 81 | 1330,1033,631,880,1461,1048 82 | 1339,1034,631,880,1461,1048 83 | 1346,1035,631,880,1461,1048 84 | 1351,1036,631,880,1461,1048 85 | 1358,1037,631,880,1461,1048 86 | 1364,1038,631,880,1461,1048 87 | 1369,1039,631,880,1461,1048 88 | 1373,1039,631,880,1461,1048 89 | 1377,1040,631,880,1461,1048 90 | 1383,1040,631,880,1461,1048 91 | 1391,1040,631,880,1461,1048 92 | 1395,1040,631,880,1461,1048 93 | 1404,1040,631,880,1461,1048 94 | 1410,1040,631,880,1461,1048 95 | 1416,1042,631,880,1461,1048 96 | 1421,1041,631,880,1461,1048 97 | 1427,1041,631,880,1461,1048 98 | 1436,1041,631,880,1461,1048 99 | 1443,1041,631,880,1461,1048 100 | 1446,1041,631,880,1461,1048 101 | 1446,1041,631,880,1461,1048 102 | 1446,1041,631,880,1461,1048 103 | 1446,1041,631,880,1461,1048 104 | 1449,1041,631,880,1461,1048 105 | 1454,1042,631,880,1461,1048 106 | 1455,1043,631,880,1461,1048 107 | 1455,1043,631,880,1461,1048 108 | 1455,1043,631,880,1461,1048 109 | 1455,1043,631,880,1461,1048 110 | 1455,1043,631,880,1461,1048 111 | 1455,1043,631,880,1461,1048 112 | 1455,1043,631,880,1461,1048 113 | 1455,1043,631,880,1461,1048 114 | 1456,1043,631,880,1461,1048 115 | --------------------------------------------------------------------------------