{"id":"https://openalex.org/W4313190853","doi":"https://doi.org/10.1109/iros47612.2022.9982222","title":"Extending extrapolation capabilities of probabilistic motion models learned from human demonstrations using shape-preserving virtual demonstrations","display_name":"Extending extrapolation capabilities of probabilistic motion models learned from human demonstrations using shape-preserving virtual demonstrations","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313190853","doi":"https://doi.org/10.1109/iros47612.2022.9982222"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982222","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/handle/20.500.12942/700442","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079587683","display_name":"Riccardo Burlizzi","orcid":"https://orcid.org/0000-0002-4485-6981"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Riccardo Burlizzi","raw_affiliation_strings":["KU Leuven & Flanders Make Core Lab ROB,Department of Mechanical Engineering,Leuven,Belgium,3001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven & Flanders Make Core Lab ROB,Department of Mechanical Engineering,Leuven,Belgium,3001","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046950532","display_name":"Maxim Vochten","orcid":"https://orcid.org/0000-0001-5070-846X"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Maxim Vochten","raw_affiliation_strings":["KU Leuven & Flanders Make Core Lab ROB,Department of Mechanical Engineering,Leuven,Belgium,3001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven & Flanders Make Core Lab ROB,Department of Mechanical Engineering,Leuven,Belgium,3001","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006282526","display_name":"Joris De Schutter","orcid":"https://orcid.org/0000-0001-9619-5815"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Joris De Schutter","raw_affiliation_strings":["KU Leuven & Flanders Make Core Lab ROB,Department of Mechanical Engineering,Leuven,Belgium,3001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven & Flanders Make Core Lab ROB,Department of Mechanical Engineering,Leuven,Belgium,3001","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038134638","display_name":"Erwin Aertbeli\u00ebn","orcid":"https://orcid.org/0000-0002-4514-0934"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Erwin Aertbeli\u00ebn","raw_affiliation_strings":["KU Leuven & Flanders Make Core Lab ROB,Department of Mechanical Engineering,Leuven,Belgium,3001"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven & Flanders Make Core Lab ROB,Department of Mechanical Engineering,Leuven,Belgium,3001","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10772","last_page":"10779"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9879000186920166,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/extrapolation","display_name":"Extrapolation","score":0.8825817108154297},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.8248457908630371},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6986690759658813},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6709848046302795},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6605191230773926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5232381224632263},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5018465518951416},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4888593554496765},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42452195286750793},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2250574827194214},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18874433636665344}],"concepts":[{"id":"https://openalex.org/C132459708","wikidata":"https://www.wikidata.org/wiki/Q744069","display_name":"Extrapolation","level":2,"score":0.8825817108154297},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.8248457908630371},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6986690759658813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6709848046302795},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6605191230773926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5232381224632263},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5018465518951416},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4888593554496765},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42452195286750793},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2250574827194214},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18874433636665344},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9982222","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982222","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/700442","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/700442","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, 23-27 October 2022","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/700442","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/700442","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, 23-27 October 2022","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1542199798","https://openalex.org/W1974792494","https://openalex.org/W1982051861","https://openalex.org/W2086467474","https://openalex.org/W2125027820","https://openalex.org/W2128677288","https://openalex.org/W2161395589","https://openalex.org/W2166316739","https://openalex.org/W2261639268","https://openalex.org/W2408947137","https://openalex.org/W2500624988","https://openalex.org/W2735021678","https://openalex.org/W2910627674","https://openalex.org/W2913358857","https://openalex.org/W2976955613","https://openalex.org/W2994446013","https://openalex.org/W3092924574","https://openalex.org/W3134394653","https://openalex.org/W3202883604","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W1968270095","https://openalex.org/W4296478327","https://openalex.org/W1960072520","https://openalex.org/W2042397106","https://openalex.org/W4361730764","https://openalex.org/W1965029248","https://openalex.org/W2220129715","https://openalex.org/W2387596242","https://openalex.org/W2333625343","https://openalex.org/W2074627651"],"abstract_inverted_index":{"Learning":[0],"from":[1],"Demonstration":[2],"(LfD)":[3],"requires":[4],"methodologies":[5],"able":[6,42],"to":[7,21,36,43,71,137],"generalize":[8,52],"tasks":[9],"in":[10,109],"new":[11,45],"situations.":[12],"This":[13],"paper":[14],"studies":[15],"the":[16,23,32,55,59,63,86,89,101,132,139,149,158,162],"use":[17,133],"of":[18,26,88,134,142,152,160,164],"virtual":[19,97,121,135],"demonstrations":[20,98,122,136],"extend":[22,138],"extrapolation":[24,140],"capabilities":[25,69,141],"probabilistic":[27,143],"motion":[28,144],"models":[29,95,145],"such":[30],"as":[31],"traPPCA":[33,40,94],"method.":[34,103],"Similarly":[35],"other":[37],"LfD":[38],"methods,":[39],"is":[41,107,116],"calculate":[44],"trajectories":[46],"very":[47],"fast,":[48],"but":[49],"does":[50],"not":[51],"well":[53],"outside":[54],"area":[56],"covered":[57],"by":[58,78,92,100],"demonstrations.":[60,128,154],"Another":[61],"approach,":[62],"invariants":[64,102],"method,":[65],"shows":[66],"outstanding":[67],"generalization":[68],"thanks":[70],"its":[72],"shape-preserving":[73],"prop-erties,":[74],"while":[75],"being":[76],"limited":[77],"long":[79],"computation":[80],"times.":[81],"The":[82,104,129,155],"pro-posed":[83],"methodology":[84],"combines":[85],"advantages":[87],"two":[90],"methods":[91],"learning":[93,119,124],"using":[96],"generated":[99],"proposed":[105],"approach":[106],"analyzed":[108],"three":[110],"case":[111],"studies.":[112],"Furthermore,":[113],"a":[114],"comparison":[115],"made":[117],"between":[118],"with":[120,125],"and":[123,146],"only":[126],"real":[127,153],"results":[130],"encourage":[131],"hence":[147],"reduce":[148],"required":[150],"number":[151],"latter":[156],"has":[157],"potential":[159],"reducing":[161],"cost":[163],"commissioning":[165],"robot":[166],"tasks.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}