{"id":"https://openalex.org/W2736457169","doi":"https://doi.org/10.1109/icra.2017.7989181","title":"Efficient learning of constraints and generic null space policies","display_name":"Efficient learning of constraints and generic null space policies","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2736457169","doi":"https://doi.org/10.1109/icra.2017.7989181","mag":"2736457169"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989181","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989181","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.pure.ed.ac.uk/ws/files/31968208/icra_learning_null_1_2.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011926647","display_name":"Leopoldo Armesto","orcid":"https://orcid.org/0000-0003-0979-4428"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Leopoldo Armesto","raw_affiliation_strings":["Control Systems and Engineering, Universitat Polit\u00e8cnica de Val\u00e8ncia, Valencia, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Systems and Engineering, Universitat Polit\u00e8cnica de Val\u00e8ncia, Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047504084","display_name":"Jorren Bosga","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jorren Bosga","raw_affiliation_strings":["Institute of Action, Perception, and Behaviour, University of Edinburgh, Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Action, Perception, and Behaviour, University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049922263","display_name":"Vladimir Ivan","orcid":"https://orcid.org/0000-0002-6610-385X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vladimir Ivan","raw_affiliation_strings":["Institute of Action, Perception, and Behaviour, University of Edinburgh, Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Action, Perception, and Behaviour, University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["Institute of Action, Perception, and Behaviour, University of Edinburgh, Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Action, Perception, and Behaviour, University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6611,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.88522035,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1520","last_page":"1526"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6216851472854614},{"id":"https://openalex.org/keywords/null","display_name":"Null (SQL)","score":0.61030513048172},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5220422744750977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37549644708633423},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3436707854270935},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26774609088897705},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.1401020586490631}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6216851472854614},{"id":"https://openalex.org/C203763787","wikidata":"https://www.wikidata.org/wiki/Q371029","display_name":"Null (SQL)","level":2,"score":0.61030513048172},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5220422744750977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37549644708633423},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3436707854270935},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26774609088897705},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.1401020586490631},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2017.7989181","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989181","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/2d1f2ddd-bc58-4c4a-b191-c1dd48652f76","is_oa":true,"landing_page_url":"http://ieeexplore.ieee.org/abstract/document/7989181/","pdf_url":"https://www.pure.ed.ac.uk/ws/files/31968208/icra_learning_null_1_2.pdf","source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:pure.ed.ac.uk:openaire/2d1f2ddd-bc58-4c4a-b191-c1dd48652f76","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/2d1f2ddd-bc58-4c4a-b191-c1dd48652f76","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Armesto, L, Bosga, J, Ivan, V & Vijayakumar, S 2017, Efficient Learning of Constraints and Generic Null Space Policies. in 2017 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, pp. 1520-1526, 2017 IEEE International Conference on Robotics and Automation, Singapore, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989181","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/2d1f2ddd-bc58-4c4a-b191-c1dd48652f76","is_oa":true,"landing_page_url":"http://ieeexplore.ieee.org/abstract/document/7989181/","pdf_url":"https://www.pure.ed.ac.uk/ws/files/31968208/icra_learning_null_1_2.pdf","source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2736457169.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1497369094","https://openalex.org/W1499277207","https://openalex.org/W1499557840","https://openalex.org/W1655240440","https://openalex.org/W1968222919","https://openalex.org/W1977013839","https://openalex.org/W1986014385","https://openalex.org/W2019606703","https://openalex.org/W2028018208","https://openalex.org/W2049410986","https://openalex.org/W2062978913","https://openalex.org/W2082511574","https://openalex.org/W2117155277","https://openalex.org/W2119088038","https://openalex.org/W2130256951","https://openalex.org/W2130726249","https://openalex.org/W2132558143","https://openalex.org/W2140204284","https://openalex.org/W2161160262","https://openalex.org/W2167804690","https://openalex.org/W2505060338","https://openalex.org/W2543071036","https://openalex.org/W2546356977","https://openalex.org/W6629683226"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W1570309050","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890"],"abstract_inverted_index":{"A":[0],"large":[1],"class":[2],"of":[3,19,53,65,95],"motions":[4,24],"can":[5],"be":[6,104],"decomposed":[7],"into":[8],"a":[9,17,51,82,130,136],"movement":[10,58],"task":[11],"and":[12,36,60,74,84],"null-space":[13],"policy":[14,59,108,113,134],"subject":[15],"to":[16,29,37,41,87,103,111,119],"set":[18],"constraints.":[20,62],"When":[21],"learning":[22,56,88,101,109,114,129],"such":[23],"from":[25,90],"demonstrations,":[26],"we":[27,80],"aim":[28],"achieve":[30],"generalisation":[31],"across":[32],"different":[33],"unseen":[34],"constraints":[35,89],"increase":[38],"the":[39,45,57,61,96,99,107],"robustness":[40],"noise":[42],"while":[43],"keeping":[44],"computational":[46],"cost":[47],"low.":[48],"There":[49],"exists":[50],"variety":[52],"methods":[54],"for":[55],"The":[63],"effectiveness":[64],"these":[66],"techniques":[67],"has":[68],"been":[69],"demonstrated":[70],"in":[71,135],"low-dimensional":[72],"scenarios":[73],"simple":[75],"motions.":[76,123],"In":[77],"this":[78],"paper,":[79],"present":[81],"fast":[83],"accurate":[85],"approach":[86,127],"observations.":[91],"This":[92],"novel":[93],"formulation":[94],"problem":[97],"allows":[98],"constraint":[100],"method":[102,110],"coupled":[105],"with":[106],"improve":[112],"accuracy,":[115],"which":[116],"enables":[117],"us":[118],"learn":[120],"more":[121],"complex":[122,131],"We":[124],"demonstrate":[125],"our":[126],"by":[128],"surface":[132],"wiping":[133],"7-DOF":[137],"robotic":[138],"arm.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
