{"id":"https://openalex.org/W3196243818","doi":"https://doi.org/10.1177/02783649211035177","title":"Learning constraints from demonstrations with grid and parametric representations","display_name":"Learning constraints from demonstrations with grid and parametric representations","publication_year":2021,"publication_date":"2021-08-13","ids":{"openalex":"https://openalex.org/W3196243818","doi":"https://doi.org/10.1177/02783649211035177","mag":"3196243818"},"language":"en","primary_location":{"id":"doi:10.1177/02783649211035177","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649211035177","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-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/A5006149535","display_name":"Glen Chou","orcid":"https://orcid.org/0000-0003-4444-3631"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Glen Chou","raw_affiliation_strings":["Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054418471","display_name":"Necmiye \u00d6zay","orcid":"https://orcid.org/0000-0002-5552-4392"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Necmiye Ozay","raw_affiliation_strings":["Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006149535"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.9613,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.75050489,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"40","issue":"10-11","first_page":"1255","last_page":"1283"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9965000152587891,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9965000152587891,"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/T11801","display_name":"Reservoir Engineering and Simulation Methods","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10791","display_name":"Advanced Control Systems Optimization","score":0.994700014591217,"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/constraint","display_name":"Constraint (computer-aided design)","score":0.6948689222335815},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6322635412216187},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6280746459960938},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6170739531517029},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5891903638839722},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.536989688873291},{"id":"https://openalex.org/keywords/constraint-learning","display_name":"Constraint learning","score":0.5247207880020142},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4739256799221039},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.450765460729599},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42151254415512085},{"id":"https://openalex.org/keywords/constraint-satisfaction","display_name":"Constraint satisfaction","score":0.39489123225212097},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3761230707168579},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3317294120788574},{"id":"https://openalex.org/keywords/local-consistency","display_name":"Local consistency","score":0.31244170665740967},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19124433398246765}],"concepts":[{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6948689222335815},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6322635412216187},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6280746459960938},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6170739531517029},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5891903638839722},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.536989688873291},{"id":"https://openalex.org/C29230964","wikidata":"https://www.wikidata.org/wiki/Q5164376","display_name":"Constraint learning","level":5,"score":0.5247207880020142},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4739256799221039},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.450765460729599},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42151254415512085},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.39489123225212097},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3761230707168579},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3317294120788574},{"id":"https://openalex.org/C137105694","wikidata":"https://www.wikidata.org/wiki/Q3407510","display_name":"Local consistency","level":4,"score":0.31244170665740967},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19124433398246765},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649211035177","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649211035177","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W146900863","https://openalex.org/W1964668039","https://openalex.org/W1970916399","https://openalex.org/W1981745143","https://openalex.org/W1986014385","https://openalex.org/W1999874108","https://openalex.org/W2053572490","https://openalex.org/W2053913299","https://openalex.org/W2061562262","https://openalex.org/W2069323107","https://openalex.org/W2073241627","https://openalex.org/W2100484286","https://openalex.org/W2103254706","https://openalex.org/W2107308405","https://openalex.org/W2123871098","https://openalex.org/W2158607953","https://openalex.org/W2169498096","https://openalex.org/W2175161357","https://openalex.org/W2267863748","https://openalex.org/W2571352963","https://openalex.org/W2592031441","https://openalex.org/W2597829367","https://openalex.org/W2623293810","https://openalex.org/W2737702598","https://openalex.org/W2738190501","https://openalex.org/W2885148507","https://openalex.org/W2892315216","https://openalex.org/W2963762522","https://openalex.org/W2974036678","https://openalex.org/W3008128154","https://openalex.org/W3099500498","https://openalex.org/W4210700398","https://openalex.org/W4242073862","https://openalex.org/W4251988760","https://openalex.org/W4252420375","https://openalex.org/W4400518895"],"related_works":["https://openalex.org/W2737098235","https://openalex.org/W2017710358","https://openalex.org/W1492025412","https://openalex.org/W2091348864","https://openalex.org/W2569549435","https://openalex.org/W2495408185","https://openalex.org/W6366331","https://openalex.org/W2784687883","https://openalex.org/W202947224","https://openalex.org/W3195880842"],"abstract_inverted_index":{"We":[0,107,127],"extend":[1],"the":[2,21,29,64,84,94,116],"learning":[3,12],"from":[4,124],"demonstration":[5],"paradigm":[6],"by":[7,88],"providing":[8],"a":[9,60,80,90,159],"method":[10,39,73,99,130],"for":[11],"unknown":[13],"constraints":[14,103,157],"shared":[15],"across":[16,75],"tasks,":[17,22],"using":[18],"demonstrations":[19],"of":[20,28,63,83,93,115],"their":[23],"cost":[24],"functions,":[25],"and":[26,32,47,53,78,118,133,148],"knowledge":[27],"system":[30,76,135],"dynamics":[31,77],"control":[33],"constraints.":[34],"Given":[35],"safe":[36,52,119,125],"demonstrations,":[37,147],"our":[38,98,129],"uses":[40],"hit-and-run":[41],"sampling":[42],"to":[43,58,100,143,155],"obtain":[44,59],"lower":[45],"cost,":[46],"thus":[48],"unsafe,":[49],"trajectories.":[50],"Both":[51],"unsafe":[54,65],"trajectories":[55],"are":[56],"used":[57,154],"consistent":[61],"representation":[62],"set":[66,120],"via":[67],"solving":[68],"an":[69],"integer":[70],"program.":[71],"Our":[72],"generalizes":[74],"learns":[79],"guaranteed":[81],"subset":[82,114],"constraint.":[85],"In":[86],"addition,":[87],"leveraging":[89],"known":[91],"parameterization":[92],"constraint,":[95],"we":[96],"modify":[97],"learn":[101,156],"parametric":[102],"in":[104,158],"high":[105],"dimensions.":[106],"also":[108,152],"provide":[109],"theoretical":[110],"analysis":[111],"on":[112,131],"what":[113],"constraint":[117],"can":[121,140,151],"be":[122,141,153],"learnable":[123],"demonstrations.":[126],"demonstrate":[128],"linear":[132],"nonlinear":[134],"dynamics,":[136],"show":[137],"that":[138,149],"it":[139,150],"modified":[142],"work":[144],"with":[145],"suboptimal":[146],"feature":[160],"space.":[161]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}