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On the Reliability of Inverse Optimal Control

Abstract : Inverse Optimal Control is popular to analyze human motion. However, in the context of these methods it is necessary to better pay attention to the reliability of the results. This paper proposes an approach based on the evaluation of Karush-Kuhn-Tucker conditions relying on a complete analysis with Singular Value Decomposition. With respect to a ground truth, our simulations illustrate how the proposed analysis guarantees the reliability of the resolution. After introducing a clear methodology, the properties of the matrices are studied with different noise levels and different experimental model and conditions. We show how to implement the method step by step by explaining the numerical difficulties encountered during the resolution and thus how to make the results of the IOC problem reliable Human Motion Analysis, Identification, Inverse Optimal Control.
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Preprints, Working Papers, ...
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Contributor : Jessica Colombel Connect in order to contact the contributor
Submitted on : Monday, September 20, 2021 - 3:36:14 PM
Last modification on : Saturday, October 16, 2021 - 11:26:10 AM


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  • HAL Id : hal-03349528, version 1


Jessica Colombel, David Daney, François Charpillet. On the Reliability of Inverse Optimal Control. 2021. ⟨hal-03349528⟩



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