I think another term, the distance between beginning and final joints' positions, is also very important in the error metric. This helps us choose the smoother solution when there are multiple possible solutions.
jonathanlu31
Yea I think this would be an interesting idea, like adding a term to find the min norm solution or something. I wonder if you can add a sparsity regularizer like l1 norm or something on the joint angles to try to move as few joints as possible.
I think another term, the distance between beginning and final joints' positions, is also very important in the error metric. This helps us choose the smoother solution when there are multiple possible solutions.
Yea I think this would be an interesting idea, like adding a term to find the min norm solution or something. I wonder if you can add a sparsity regularizer like l1 norm or something on the joint angles to try to move as few joints as possible.