{"id":"https://openalex.org/W2921161001","doi":"https://doi.org/10.1109/robio.2018.8665071","title":"Learning Geometric Constraints of Actions from Demonstrations for Manipulation Task Planning","display_name":"Learning Geometric Constraints of Actions from Demonstrations for Manipulation Task Planning","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2921161001","doi":"https://doi.org/10.1109/robio.2018.8665071","mag":"2921161001"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8665071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071247095","display_name":"Jinqiang Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jinqiang Yuan","raw_affiliation_strings":["Department of Mechanical Engineering, National University of singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073468340","display_name":"Chee\u2013Meng Chew","orcid":"https://orcid.org/0000-0002-6396-4371"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee-Meng Chew","raw_affiliation_strings":["Department of Mechanical Engineering, National University of singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055514220","display_name":"Velusamy Subramaniam","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Velusamy Subramaniam","raw_affiliation_strings":["Department of Mechanical Engineering, National University of singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.30271361,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"28","issue":null,"first_page":"636","last_page":"641"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9901999831199646,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9815999865531921,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7530598640441895},{"id":"https://openalex.org/keywords/chaining","display_name":"Chaining","score":0.7297643423080444},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.7251415848731995},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.689030647277832},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6526120901107788},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6487221717834473},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5869354009628296},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5828933715820312},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49388962984085083},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.49257785081863403},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4735369384288788},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1095220148563385}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7530598640441895},{"id":"https://openalex.org/C49020025","wikidata":"https://www.wikidata.org/wiki/Q1059099","display_name":"Chaining","level":2,"score":0.7297643423080444},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.7251415848731995},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.689030647277832},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6526120901107788},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6487221717834473},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5869354009628296},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5828933715820312},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49388962984085083},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.49257785081863403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4735369384288788},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1095220148563385},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2018.8665071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1903836554","https://openalex.org/W1963873191","https://openalex.org/W1986014385","https://openalex.org/W2002489204","https://openalex.org/W2012204020","https://openalex.org/W2047197161","https://openalex.org/W2060914855","https://openalex.org/W2063471043","https://openalex.org/W2081034428","https://openalex.org/W2116341587","https://openalex.org/W2125612430","https://openalex.org/W2136719407","https://openalex.org/W2141841102","https://openalex.org/W2151992157","https://openalex.org/W2169360335","https://openalex.org/W2214018736","https://openalex.org/W2311374921","https://openalex.org/W2560573001","https://openalex.org/W2738190501"],"related_works":["https://openalex.org/W1995270367","https://openalex.org/W2767696758","https://openalex.org/W4387627836","https://openalex.org/W2107793209","https://openalex.org/W2041767423","https://openalex.org/W3028301851","https://openalex.org/W4200061056","https://openalex.org/W2901315987","https://openalex.org/W2486348789","https://openalex.org/W1581002386"],"abstract_inverted_index":{"Learning":[0],"from":[1,94,111],"demonstrations":[2,95],"(LfD)":[3],"has":[4],"been":[5],"shown":[6],"to":[7,15,40,73,104],"be":[8,92],"an":[9],"effective":[10],"method":[11],"for":[12,120,127],"non-expert":[13],"users":[14],"teach":[16],"robot":[17,35,81],"tasks.":[18,28],"However,":[19],"most":[20],"of":[21,45,70,78,88,109,132,147],"the":[22,38,68,76,86,106,145,148],"existing":[23,59],"approaches":[24,60],"focus":[25],"on":[26,50,140],"specific":[27],"To":[29,98],"efficiently":[30],"perform":[31],"complex":[32],"tasks,":[33],"a":[34,42,51,62,84,130],"should":[36],"have":[37],"ability":[39],"learn":[41,105],"wide":[43],"variety":[44,87],"manipulations":[46],"actions,":[47],"and":[48,80,122,135],"reason":[49],"symbolic":[52,63],"level":[53,64],"by":[54,67],"chaining":[55],"learned":[56,93],"actions.":[57],"Yet,":[58],"at":[61],"are":[65],"limited":[66],"inability":[69],"task":[71],"planners":[72],"deal":[74],"with":[75],"complexities":[77],"geometry":[79],"kinematics.":[82],"As":[83],"result,":[85],"actions":[89,110,143],"that":[90],"can":[91,114],"is":[96],"limited.":[97],"address":[99],"this":[100],"gap,":[101],"we":[102],"propose":[103],"geometric":[107,125],"constraints":[108],"demonstrations,":[112],"which":[113],"(1)":[115],"generate":[116],"motion":[117],"planning":[118,128],"goals":[119],"execution,":[121],"(2)":[123],"provide":[124],"information":[126],"in":[129],"framework":[131],"Combined":[133],"Task":[134],"Motion":[136],"Planning":[137],"(CTAMP).":[138],"Experiments":[139],"various":[141],"manipulation":[142],"demonstrate":[144],"efficacy":[146],"proposed":[149],"method.":[150]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
