{"id":"https://openalex.org/W3081252230","doi":"https://doi.org/10.1109/icra40945.2020.9197174","title":"Inferring the Geometric Nullspace of Robot Skills from Human Demonstrations","display_name":"Inferring the Geometric Nullspace of Robot Skills from Human Demonstrations","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3081252230","doi":"https://doi.org/10.1109/icra40945.2020.9197174","mag":"3081252230"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197174","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197174","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.16092","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Caixia Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Caixia Cai","raw_affiliation_strings":["A*STAR Institute for Infocomm Research (I2R), Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"A*STAR Institute for Infocomm Research (I2R), Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ying Siu Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3004594783","display_name":"Institute of High Performance Computing","ror":"https://ror.org/02n0ejh50","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3004594783","https://openalex.org/I91275662"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ying Siu Liang","raw_affiliation_strings":["A*STAR Institute for Infocomm Research (I2R), Singapore","Institute of High Performance Computing, A*STAR Human-centric AI (CHEEM) Programme, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"A*STAR Institute for Infocomm Research (I2R), Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Institute of High Performance Computing, A*STAR Human-centric AI (CHEEM) Programme, Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3004594783"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nikhil Somani","orcid":null},"institutions":[{"id":"https://openalex.org/I4210130241","display_name":"A*STAR-NUS Clinical Imaging Research Centre","ror":"https://ror.org/02rfzns68","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I165932596","https://openalex.org/I4210130241"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Nikhil Somani","raw_affiliation_strings":["A*STAR Advanced Remanufacturing and Technology Centre (ARTC), Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"A*STAR Advanced Remanufacturing and Technology Centre (ARTC), Singapore","institution_ids":["https://openalex.org/I4210130241"]}]},{"author_position":"last","author":{"id":null,"display_name":"Wu Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wu Yan","raw_affiliation_strings":["A*STAR Institute for Infocomm Research (I2R), Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"A*STAR Institute for Infocomm Research (I2R), Singapore","institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2363,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.75275745,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"7668","last_page":"7675"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9922999739646912,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9815000295639038,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.972599983215332},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6463000178337097},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6158000230789185},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.60589998960495},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5956000089645386},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.574400007724762},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5496000051498413}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.972599983215332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6507999897003174},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6463000178337097},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6158000230789185},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.60589998960495},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5956000089645386},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.574400007724762},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.567300021648407},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5496000051498413},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4226999878883362},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38100001215934753},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.34540000557899475},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3345000147819519},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3222000002861023},{"id":"https://openalex.org/C7305733","wikidata":"https://www.wikidata.org/wiki/Q207961","display_name":"Geometric shape","level":2,"score":0.2858000099658966},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2833999991416931},{"id":"https://openalex.org/C132758656","wikidata":"https://www.wikidata.org/wiki/Q5307365","display_name":"Dreyfus model of skill acquisition","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.28060001134872437},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.27950000762939453}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197174","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197174","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2103.16092","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.16092","pdf_url":"https://arxiv.org/pdf/2103.16092","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.16092","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.16092","pdf_url":"https://arxiv.org/pdf/2103.16092","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1061439","https://openalex.org/W1986014385","https://openalex.org/W2053000265","https://openalex.org/W2078158966","https://openalex.org/W2128677288","https://openalex.org/W2141450827","https://openalex.org/W2198516116","https://openalex.org/W2216968212","https://openalex.org/W2289973316","https://openalex.org/W2290480127","https://openalex.org/W2311374921","https://openalex.org/W2511957348","https://openalex.org/W2516746563","https://openalex.org/W2544533513","https://openalex.org/W2562222449","https://openalex.org/W2562809435","https://openalex.org/W2578827836","https://openalex.org/W2738140252","https://openalex.org/W2738190501","https://openalex.org/W2785710154","https://openalex.org/W2885017279","https://openalex.org/W2913358857","https://openalex.org/W4211008118","https://openalex.org/W6743253905","https://openalex.org/W6756665817","https://openalex.org/W6766170616"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1,77],"paper":[2],"we":[3,75],"present":[4],"a":[5,24,49,73,105,136],"framework":[6,103],"to":[7,35],"learn":[8],"skills":[9],"from":[10,89],"human":[11,30,110],"demonstrations":[12,111],"in":[13,62,127],"the":[14,60,65,70,82,96,109,115,121,142,146],"form":[15],"of":[16,29,59,64,101],"geometric":[17,33,42,46,78],"nullspaces,":[18],"which":[19,90],"can":[20,92],"be":[21,93],"executed":[22],"using":[23,72],"robot.":[25,149],"We":[26,131],"collect":[27],"data":[28],"demonstrations,":[31],"fit":[32],"nullspaces":[34],"them,":[36],"and":[37,85,119,140],"also":[38],"infer":[39],"their":[40],"corresponding":[41],"constraint":[43],"models.":[44],"These":[45],"constraints":[47],"provide":[48],"powerful":[50],"mathematical":[51],"model":[52],"as":[53,55,112],"well":[54],"an":[56],"intuitive":[57],"representation":[58],"skill":[61,71,79,117,123],"terms":[63],"involved":[66],"objects.":[67],"To":[68],"execute":[69,141],"robot,":[74,139],"combine":[76],"description":[80],"with":[81,124],"robot's":[83,97],"kinematics":[84],"other":[86],"environmental":[87],"constraints,":[88],"poses":[91],"sampled":[94],"for":[95],"execution.":[98],"The":[99],"result":[100],"our":[102,133],"is":[104],"system":[106],"that":[107],"takes":[108],"input,":[113],"learns":[114],"underlying":[116],"model,":[118],"executes":[120],"learnt":[122],"different":[125,128],"robots":[126],"dynamic":[129],"environments.":[130],"evaluate":[132],"approach":[134],"on":[135,145],"simulated":[137],"industrial":[138],"final":[143],"task":[144],"iCub":[147],"humanoid":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2020-09-01T00:00:00"}