{"id":"https://openalex.org/W4391307707","doi":"https://doi.org/10.1109/smc53992.2023.10394442","title":"Learn to Coordinate: a Whole-Body Learning from Demonstration Framework for Differential Drive Mobile Manipulators","display_name":"Learn to Coordinate: a Whole-Body Learning from Demonstration Framework for Differential Drive Mobile Manipulators","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4391307707","doi":"https://doi.org/10.1109/smc53992.2023.10394442"},"language":"en","primary_location":{"id":"doi:10.1109/smc53992.2023.10394442","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/smc53992.2023.10394442","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},"type":"article","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/A5103036636","display_name":"Yuqiang Yang","orcid":"https://orcid.org/0000-0003-1186-0236"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuqiang Yang","raw_affiliation_strings":["South China University of Technology,Automation Science and Engineering,Guangzhou,China","Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology,Automation Science and Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002304394","display_name":"Darong Huang","orcid":"https://orcid.org/0000-0001-6508-6675"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Darong Huang","raw_affiliation_strings":["South China University of Technology,Automation Science and Engineering,Guangzhou,China","Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology,Automation Science and Engineering,Guangzhou,China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418393","display_name":"Chen Chen","orcid":"https://orcid.org/0000-0001-9480-5632"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Chen","raw_affiliation_strings":["Application Innovate Laboratory Huawei Technologies Co. Ltd,Shenzhen,China","Application Innovate Laboratory Huawei Technologies Co. Ltd, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Application Innovate Laboratory Huawei Technologies Co. Ltd,Shenzhen,China","institution_ids":["https://openalex.org/I2250955327"]},{"raw_affiliation_string":"Application Innovate Laboratory Huawei Technologies Co. Ltd, Shenzhen, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101850794","display_name":"Chao Zeng","orcid":"https://orcid.org/0000-0003-3648-4644"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Chao Zeng","raw_affiliation_strings":["Universitat Hamburg,Technical Aspects of Multimodal Systems,Hamburg,Germany","Technical Aspects of Multimodal Systems, Universitat Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Universitat Hamburg,Technical Aspects of Multimodal Systems,Hamburg,Germany","institution_ids":["https://openalex.org/I884043246","https://openalex.org/I159176309"]},{"raw_affiliation_string":"Technical Aspects of Multimodal Systems, Universitat Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100520107","display_name":"Yanong He","orcid":null},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanong He","raw_affiliation_strings":["Application Innovate Laboratory Huawei Technologies Co. Ltd,Shenzhen,China","Application Innovate Laboratory Huawei Technologies Co. Ltd, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Application Innovate Laboratory Huawei Technologies Co. Ltd,Shenzhen,China","institution_ids":["https://openalex.org/I2250955327"]},{"raw_affiliation_string":"Application Innovate Laboratory Huawei Technologies Co. Ltd, Shenzhen, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Bristol Robotics Laboratory University of the West of England,Bristol,UK","Bristol Robotics Laboratory University of the West of England, Bristol, UK"],"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory University of the West of England,Bristol,UK","institution_ids":["https://openalex.org/I4210161128"]},{"raw_affiliation_string":"Bristol Robotics Laboratory University of the West of England, Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5103036636"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18882186,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4208","last_page":"4213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"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/computer-science","display_name":"Computer science","score":0.6887115240097046},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5333663821220398},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.49522796273231506},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4814290702342987},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44004034996032715},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43008914589881897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41750526428222656},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33696699142456055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18853121995925903},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11590304970741272},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11426040530204773}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6887115240097046},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5333663821220398},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.49522796273231506},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4814290702342987},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44004034996032715},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43008914589881897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41750526428222656},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33696699142456055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18853121995925903},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11590304970741272},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11426040530204773},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc53992.2023.10394442","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/smc53992.2023.10394442","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1971890413","https://openalex.org/W2110304639","https://openalex.org/W2119403459","https://openalex.org/W2722424650","https://openalex.org/W2792083172","https://openalex.org/W2796864868","https://openalex.org/W2903857705","https://openalex.org/W2948138712","https://openalex.org/W3004335173","https://openalex.org/W3005451807","https://openalex.org/W3015960732","https://openalex.org/W3196862588","https://openalex.org/W3206530605","https://openalex.org/W3206771627","https://openalex.org/W4205285249","https://openalex.org/W6768977599"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2000675896"],"abstract_inverted_index":{"This":[0],"paper":[1,126],"proposes":[2],"a":[3,59,86,104,119],"whole-body":[4,60,101],"learning":[5,72,92],"from":[6],"demonstration":[7],"(LfD)":[8],"framework":[9,62,93,112],"that":[10],"enables":[11],"differential":[12],"drive":[13],"mobile":[14,51,69],"manipulators":[15],"to":[16,48,53],"learn":[17],"coordination":[18,79],"working":[19,80],"and":[20,40,81,118],"disturbance":[21,82],"rejection.":[22],"First,":[23],"an":[24,41],"efficient":[25],"kinesthetic":[26],"teaching":[27],"method":[28],"is":[29,102,113,127],"devised":[30],"based":[31],"on":[32],"the":[33,50,68,100,107,110],"weighted":[34],"least-norm":[35],"(WLN)":[36],"inverse":[37],"kinematics":[38],"solution":[39],"admittance":[42],"controller,":[43],"which":[44,66],"facilitates":[45],"human":[46,88],"users":[47],"guide":[49],"manipulator":[52],"perform":[54],"tasks.":[55],"Second,":[56],"we":[57],"propose":[58],"LfD":[61],"through":[63],"Gaussian":[64],"Process,":[65],"endows":[67],"manipulator's":[70],"skill":[71],"process":[73],"with":[74],"features":[75],"of":[76,109],"large-scale":[77],"convergence,":[78],"rejection,":[83],"after":[84],"just":[85],"few":[87],"demonstrations.":[89],"The":[90],"proposed":[91,111],"also":[94],"allows":[95],"for":[96,124],"human-in-the-loop":[97],"correction":[98],"when":[99],"conducting":[103],"task.":[105],"Finally,":[106],"effectiveness":[108],"verified":[114],"via":[115],"two":[116],"simulations":[117],"pick-and-place":[120],"experiment.":[121],"Supplementary":[122],"video":[123],"this":[125],"available":[128],"in":[129],"github<sup":[130],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[131,133],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u2020</sup><sup":[132],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u2020</sup>https://github.com/yuqiang-yang/SMC2023-Video.":[134]},"counts_by_year":[],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}