{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,5]],"date-time":"2024-09-05T13:29:01Z","timestamp":1725542941940},"publisher-location":"Berlin, Heidelberg","reference-count":60,"publisher":"Springer Berlin Heidelberg","isbn-type":[{"type":"print","value":"9783642051807"},{"type":"electronic","value":"9783642051814"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2010]]},"DOI":"10.1007\/978-3-642-05181-4_12","type":"book-chapter","created":{"date-parts":[[2009,12,30]],"date-time":"2009-12-30T08:17:27Z","timestamp":1262161047000},"page":"253-291","source":"Crossref","is-referenced-by-count":8,"title":["Methods for Learning Control Policies from Variable-Constraint Demonstrations"],"prefix":"10.1007","author":[{"given":"Matthew","family":"Howard","sequence":"first","affiliation":[]},{"given":"Stefan","family":"Klanke","sequence":"additional","affiliation":[]},{"given":"Michael","family":"Gienger","sequence":"additional","affiliation":[]},{"given":"Christian","family":"Goerick","sequence":"additional","affiliation":[]},{"given":"Sethu","family":"Vijayakumar","sequence":"additional","affiliation":[]}],"member":"297","reference":[{"issue":"2","key":"12_CR1","doi-asserted-by":"publisher","first-page":"299","DOI":"10.1109\/TSMCB.2006.886947","volume":"37","author":"A. Alissandrakis","year":"2007","unstructured":"Alissandrakis, A., Nehaniv, C.L., Dautenhahn, K.: Correspondence mapping induced state and action metrics for robotic imitation. IEEE Transactions on Systems, Man and Cybernetics\u00a037(2), 299\u2013307 (2007)","journal-title":"IEEE Transactions on Systems, Man and Cybernetics"},{"key":"12_CR2","doi-asserted-by":"crossref","unstructured":"Antonelli, G., Arrichiello, F., Chiaverini, S.: The null-space-based behavioral control for soccer-playing mobile robots. In: IEEE International Conference Advanced Intelligent Mechatronics, pp. 1257\u20131262 (2005)","DOI":"10.1109\/AIM.2005.1511183"},{"key":"12_CR3","doi-asserted-by":"crossref","unstructured":"Argall, B.D., Chernova, S., Veloso, M., Browning, B.: A survey of robot learning from demonstration. In: Robotics and Autonomous Systems (2008) (in press) (Corrected Proof)","DOI":"10.1016\/j.robot.2008.10.024"},{"key":"12_CR4","volume-title":"Handbook of Robotics","author":"A. Billard","year":"2007","unstructured":"Billard, A., Calinon, S., Dillmann, R., Schaal, S.: Robot programming by demonstration. In: Handbook of Robotics, ch.\u00a059. MIT Press, Cambridge (2007)"},{"key":"12_CR5","doi-asserted-by":"crossref","unstructured":"Bolder, B., Dunn, M., Gienger, M., Janssen, H., Sugiura, H., Goerick, C.: Visually guided whole body interaction. In: IEEE International Conference on Robotics and Automation, pp. 3054\u20133061 (2007)","DOI":"10.1109\/ROBOT.2007.363936"},{"key":"12_CR6","doi-asserted-by":"crossref","unstructured":"Calinon, S., Billard, A.: Learning of gestures by imitation in a humanoid robot. In: Imitation and Social Learning in Robots, Humans and Animals: Behavioural, Social and Communicative Dimensions (2007)","DOI":"10.1017\/CBO9780511489808.012"},{"key":"12_CR7","unstructured":"Chajewska, U., Koller, D., Ormoneit, D.: Learning an agent\u2019s utility function by observing behavior. In: International Conference on Machine Learning (2001)"},{"key":"12_CR8","first-page":"79","volume-title":"Uncertainty in Artificial Intelligence","author":"U. Chajewska","year":"1998","unstructured":"Chajewska, U., Getoor, L., Norman, J., Shahar, Y.: Utility elicitation as a classification problem. In: Uncertainty in Artificial Intelligence, pp. 79\u201388. Morgan Kaufmann Publishers, San Francisco (1998)"},{"issue":"5","key":"12_CR9","doi-asserted-by":"publisher","first-page":"719","DOI":"10.1109\/70.964671","volume":"17","author":"F. Chaumette","year":"2001","unstructured":"Chaumette, F., Marchand, A.: A redundancy-based iterative approach for avoiding joint limits: Application to visual servoing. IEEE Trans. Robotics and Automation\u00a017(5), 719\u2013730 (2001)","journal-title":"IEEE Trans. Robotics and Automation"},{"issue":"2","key":"12_CR10","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1017\/S0263574799001861","volume":"18","author":"S. Il Choi","year":"2000","unstructured":"Il Choi, S., Kim, B.K.: Obstacle avoidance control for redundant manipulators using collidability measure. Robotica\u00a018(2), 143\u2013151 (2000)","journal-title":"Robotica"},{"key":"12_CR11","doi-asserted-by":"crossref","unstructured":"Conner, D.C., Rizzi, A.A., Choset, H.: Composition of local potential functions for global robot control and navigation. In: IEEE International Conference on Intelligent Robots and Systems, October 27-31, vol.\u00a04, pp. 3546\u20133551 (2003)","DOI":"10.1109\/IROS.2003.1249705"},{"key":"12_CR12","unstructured":"D\u2019Souza, A., Vijayakumar, S., Schaal, S.: Learning inverse kinematics. In: IEEE International Conference on Intelligent Robots and Systems (2001)"},{"issue":"3","key":"12_CR13","doi-asserted-by":"publisher","first-page":"233","DOI":"10.1109\/3468.844350","volume":"30","author":"J.D. English","year":"2000","unstructured":"English, J.D., Maciejewski, A.A.: On the implementation of velocity control for kinematically redundant manipulators. IEEE Transactions on Systems, Man and Cybernetics\u00a030(3), 233\u2013237 (2000)","journal-title":"IEEE Transactions on Systems, Man and Cybernetics"},{"key":"12_CR14","series-title":"SCI","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1007\/978-3-642-05181-4_7","volume-title":"From Motor Learning to Interaction Learning in Robots","author":"M. Fumagalli","year":"2010","unstructured":"Fumagalli, M., Gijsberts, A., Ivaldi, S., Jamone, L., Metta, G., Natale, L., Nori, F., Sandini, G.: Learning how to exploit proximal force sensing: A comparison approach. In: Sigaud, O., Peters, J. (eds.) From Motor Learning to Interaction Learning in Robots. SCI, vol.\u00a0264, pp. 149\u2013167. Springer, Heidelberg (2010)"},{"key":"12_CR15","doi-asserted-by":"crossref","unstructured":"Gienger, M., Janssen, H., Goerick, C.: Task-oriented whole body motion for humanoid robots. In: IEEE International Conference on Humanoid Robots, December 5, pp. 238\u2013244 (2005)","DOI":"10.1109\/ICHR.2005.1573574"},{"key":"12_CR16","volume-title":"Robotics: Science and Systems","author":"D.B. Grimes","year":"2006","unstructured":"Grimes, D.B., Chalodhorn, R., Rajesh, P.N.R.: Dynamic imitation in a humanoid robot through nonparametric probabilistic inference. In: Robotics: Science and Systems. MIT Press, Cambridge (2006)"},{"key":"12_CR17","volume-title":"Advances in Neural Information Processing Systems","author":"D.B. Grimes","year":"2007","unstructured":"Grimes, D.B., Rashid, D.R., Rajesh, P.N.R.: Learning nonparametric models for probabilistic imitation. In: Advances in Neural Information Processing Systems. MIT Press, Cambridge (2007)"},{"issue":"13","key":"12_CR18","first-page":"1521","volume":"21","author":"F. Guenter","year":"2007","unstructured":"Guenter, F., Hersch, M., Calinon, S., Billard, A.: Reinforcement learning for imitating constrained reaching movements. RSJ Advanced Robotics, Special Issue on Imitative Robots\u00a021(13), 1521\u20131544 (2007)","journal-title":"RSJ Advanced Robotics, Special Issue on Imitative Robots"},{"issue":"4","key":"12_CR19","doi-asserted-by":"publisher","first-page":"195","DOI":"10.1080\/11762320902789830","volume":"5","author":"M. Howard","year":"2008","unstructured":"Howard, M., Klanke, S., Gienger, M., Goerick, C., Vijayakumar, S.: Behaviour generation in humanoids by learning potential-based policies from constrained motion. Applied Bionics and Biomechanics\u00a05(4), 195\u2013211 (2008) (in press)","journal-title":"Applied Bionics and Biomechanics"},{"key":"12_CR20","doi-asserted-by":"crossref","unstructured":"Howard, M., Klanke, S., Gienger, M., Goerick, C., Vijayakumar, S.: Learning potential-based policies from constrained motion. In: IEEE International Conference on Humanoid Robots (2008)","DOI":"10.1109\/ICHR.2008.4755977"},{"key":"12_CR21","doi-asserted-by":"crossref","unstructured":"Howard, M., Klanke, S., Gienger, M., Goerick, C., Vijayakumar, S.: A novel method for learning policies from constrained motion. In: IEEE International Conference on Robotics and Automation (2009)","DOI":"10.1109\/ROBOT.2009.5152335"},{"key":"12_CR22","doi-asserted-by":"crossref","unstructured":"Howard, M., Klanke, S., Gienger, M., Goerick, C., Vijayakumar, S.: A novel method for learning policies from variable constraint data. In: Autonomous Robots (submitted, 2009)","DOI":"10.1007\/s10514-009-9129-8"},{"key":"12_CR23","unstructured":"Howard, M., Vijayakumar, S.: Reconstructing null-space policies subject to dynamic task constraints in redundant manipulators. In: Workshop on Robotics and Mathematics (September 2007)"},{"key":"#cr-split#-12_CR24.1","doi-asserted-by":"crossref","unstructured":"Ijspeert, A.J., Nakanishi, J., Schaal, S.: Movement imitation with nonlinear dynamical systems in humanoid robots. In: IEEE International Conference on Robotics and Automation, pp. 1398???1403 (2002);","DOI":"10.1109\/ROBOT.2002.1014739"},{"key":"#cr-split#-12_CR24.2","unstructured":"ICRA 2002 best paper award"},{"key":"12_CR25","first-page":"1523","volume-title":"Advances in Neural Information Processing Systems","author":"A.J. Ijspeert","year":"2003","unstructured":"Ijspeert, A.J., Nakanishi, J., Schaal, S.: Learning attractor landscapes for learning motor primitives. In: Becker, S., Thrun, S., Obermayer, K. (eds.) Advances in Neural Information Processing Systems, pp. 1523\u20131530. MIT Press, Cambridge (2003)"},{"issue":"4","key":"12_CR26","doi-asserted-by":"publisher","first-page":"363","DOI":"10.1177\/0278364904042199","volume":"23","author":"T. Inamura","year":"2004","unstructured":"Inamura, T., Toshima, I., Tanie, H., Nakamura, Y.: Embodied symbol emergence based on mimesis theory. The International Journal of Robotics Research\u00a023(4), 363\u2013377 (2004)","journal-title":"The International Journal of Robotics Research"},{"key":"12_CR27","doi-asserted-by":"crossref","unstructured":"Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., Hirukawa, H.: Resolved momentum control: Humanoid motion planning based on the linear and angular momentum. In: IEEE Int. Conf. on Intelligent Robots and Systems (2003)","DOI":"10.1109\/IROS.2003.1248880"},{"issue":"3","key":"12_CR28","doi-asserted-by":"publisher","first-page":"497","DOI":"10.1145\/990308.990313","volume":"51","author":"R. Kannan","year":"2004","unstructured":"Kannan, R., Vempala, S., Vetta, A.: On clusterings: Good, bad and spectral. Journal of the ACM\u00a051(3), 497\u2013515 (2004)","journal-title":"Journal of the ACM"},{"key":"12_CR29","doi-asserted-by":"crossref","unstructured":"Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. In: IEEE International Conference on Robotics and Automation, vol.\u00a01, pp. 428\u2013436 (1985)","DOI":"10.1109\/ROBOT.1985.1087247"},{"issue":"1","key":"12_CR30","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1109\/JRA.1987.1087068","volume":"RA-3","author":"O. Khatib","year":"1987","unstructured":"Khatib, O.: A unified approach for motion and force control of robot manipulators: the operational space formulation. IEEE Journal of Robotics and Automation\u00a0RA-3(1), 43\u201353 (1987)","journal-title":"IEEE Journal of Robotics and Automation"},{"issue":"10","key":"12_CR31","doi-asserted-by":"publisher","first-page":"330","DOI":"10.1371\/journal.pbio.0020330","volume":"2","author":"K.P. K\u00f6rding","year":"2004","unstructured":"K\u00f6rding, K.P., Fukunaga, I., Howard, I.S., Ingram, J.N., Wolpert, D.M.: A neuroeconomics approach to inferring utility functions in sensorimotor control. PLoS Biolology\u00a02(10), 330 (2004)","journal-title":"PLoS Biolology"},{"key":"12_CR32","doi-asserted-by":"publisher","first-page":"9839","DOI":"10.1073\/pnas.0308394101","volume":"101","author":"K.P. K\u00f6rding","year":"2004","unstructured":"K\u00f6rding, K.P., Wolpert, D.M.: The loss function of sensorimotor learning. Proceedings of the National Academy of Sciences\u00a0101, 9839\u20139842 (2004)","journal-title":"Proceedings of the National Academy of Sciences"},{"key":"12_CR33","doi-asserted-by":"publisher","first-page":"868","DOI":"10.1109\/TSMC.1977.4309644","volume":"7","author":"A. Li\u00e9geois","year":"1977","unstructured":"Li\u00e9geois, A.: Automatic supervisory control of the configuration and behavior of multibody mechanisms. IEEE Trans. Sys., Man and Cybernetics\u00a07, 868\u2013871 (1977)","journal-title":"IEEE Trans. Sys., Man and Cybernetics"},{"key":"12_CR34","doi-asserted-by":"crossref","unstructured":"Mattikalli, R., Khosla, P.: Motion constraints from contact geometry: Representation and analysis. In: IEEE International Conference on Robotics and Automation (1992)","DOI":"10.1109\/ROBOT.1992.219934"},{"key":"12_CR35","volume-title":"A Mathematical Introduction to Robotic Manipulation","author":"R.M. Murray","year":"1994","unstructured":"Murray, R.M., Li, Z., Sastry, S.S.: A Mathematical Introduction to Robotic Manipulation. CRC Press, Boca Raton (1994)"},{"key":"12_CR36","volume-title":"Advanced Robotics: Redundancy and Optimization","author":"Y. Nakamura","year":"1991","unstructured":"Nakamura, Y.: Advanced Robotics: Redundancy and Optimization. Addison Wesley, Reading (1991)"},{"key":"12_CR37","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1007\/s00422-004-0491-5","volume":"91","author":"K. Ohta","year":"2004","unstructured":"Ohta, K., Svinin, M., Luo, Z., Hosoe, S., Laboissiere, R.: Optimal trajectory formation of constrained human arm reaching movements. Biological Cybernetics\u00a091, 23\u201336 (2004)","journal-title":"Biological Cybernetics"},{"key":"12_CR38","unstructured":"Park, J., Khatib, O.: Contact consistent control framework for humanoid robots. In: IEEE International Conference on Robotics and Automation (May 2006)"},{"key":"12_CR39","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10514-007-9051-x","volume":"24","author":"J. Peters","year":"2008","unstructured":"Peters, J., Mistry, M., Udwadia, F.E., Nakanishi, J., Schaal, S.: A unifying framework for robot control with redundant dofs. Autonomous Robots\u00a024, 1\u201312 (2008)","journal-title":"Autonomous Robots"},{"issue":"2","key":"12_CR40","doi-asserted-by":"publisher","first-page":"197","DOI":"10.1177\/0278364907087548","volume":"27","author":"J. Peters","year":"2008","unstructured":"Peters, J., Schaal, S.: Learning to control in operational space. The International Journal of Robotics Research\u00a027(2), 197\u2013212 (2008)","journal-title":"The International Journal of Robotics Research"},{"key":"12_CR41","unstructured":"Ren, J., McIsaac, K.A., Patel, R.V.: Modified Newton\u2019s method applied to potential field-based navigation for mobile robots. In: IEEE Transactions on Robotics (2006)"},{"issue":"5","key":"12_CR42","doi-asserted-by":"publisher","first-page":"501","DOI":"10.1109\/70.163777","volume":"8","author":"E. Rimon","year":"1992","unstructured":"Rimon, E., Koditschek, D.E.: Exact robot navigation using artificial potential functions. IEEE Transactions on Robotics and Automation\u00a08(5), 501\u2013518 (1992)","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"12_CR43","doi-asserted-by":"crossref","unstructured":"De Sapio, V., Khatib, O., Delp, S.: Task-level approaches for the control of constrained multibody systems (2006)","DOI":"10.1007\/s11044-006-9017-3"},{"issue":"5","key":"12_CR44","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1007\/s00371-005-0284-4","volume":"21","author":"V. Sapio De","year":"2005","unstructured":"De Sapio, V., Warren, J., Khatib, O., Delp, S.: Simulating the task-level control of human motion: a methodology and framework for implementation. The Visual Computer\u00a021(5), 289\u2013302 (2005)","journal-title":"The Visual Computer"},{"key":"12_CR45","first-page":"1040","volume-title":"Advances in Neural Information Processing Systems","author":"S. Schaal","year":"1997","unstructured":"Schaal, S.: Learning from demonstration. In: Mozer, M.C., Jordan, M., Petsche, T. (eds.) Advances in Neural Information Processing Systems, pp. 1040\u20131046. MIT Press, Cambridge (1997)"},{"key":"12_CR46","doi-asserted-by":"publisher","first-page":"2047","DOI":"10.1162\/089976698300016963","volume":"10","author":"S. Schaal","year":"1998","unstructured":"Schaal, S., Atkeson, C.G.: Constructive incremental learning from only local information. Neural Computation\u00a010, 2047\u20132084 (1998)","journal-title":"Neural Computation"},{"issue":"1431","key":"12_CR47","doi-asserted-by":"publisher","first-page":"537","DOI":"10.1098\/rstb.2002.1258","volume":"358","author":"S. Schaal","year":"2003","unstructured":"Schaal, S., Ijspeert, A., Billard, A.: Computational approaches to motor learning by imitation. Philosophical Transactions: Biological Sciences\u00a0358(1431), 537\u2013547 (2003)","journal-title":"Philosophical Transactions: Biological Sciences"},{"key":"12_CR48","unstructured":"Sentis, L., Khatib, O.: Task-oriented control of humanoid robots through prioritization. In: IEEE International Conference on Humanoid Robots (2004)"},{"issue":"4","key":"12_CR49","doi-asserted-by":"publisher","first-page":"505","DOI":"10.1142\/S0219843605000594","volume":"2","author":"L. Sentis","year":"2005","unstructured":"Sentis, L., Khatib, O.: Synthesis of whole-body behaviors through hierarchical control of behavioral primitives. International Journal of Humanoid Robotics\u00a02(4), 505\u2013518 (2005)","journal-title":"International Journal of Humanoid Robotics"},{"key":"12_CR50","doi-asserted-by":"crossref","unstructured":"Sentis, L., Khatib, O.: A whole-body control framework for humanoids operating in human environments. In: IEEE International Conference on Robotics and Automation (May 2006)","DOI":"10.1109\/ROBOT.2006.1642100"},{"key":"12_CR51","doi-asserted-by":"crossref","unstructured":"Sugiura, H., Gienger, M., Janssen, H., Goerick, C.: Real-time collision avoidance with whole body motion control for humanoid robots. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2053\u20132058 (2007)","DOI":"10.1109\/IROS.2007.4399062"},{"key":"12_CR52","volume-title":"Reinforcement learning: an introduction","author":"R.S. Sutton","year":"1998","unstructured":"Sutton, R.S., Barto, A.G.: Reinforcement learning: an introduction. MIT Press, Cambridge (1998)"},{"key":"12_CR53","doi-asserted-by":"crossref","unstructured":"Takano, W., Yamane, K., Sugihara, T., Yamamoto, K., Nakamura, Y.: Primitive communication based on motion recognition and generation with hierarchical mimesis model. In: IEEE International Conference on Robotics and Automation (2006)","DOI":"10.1109\/ROBOT.2006.1642252"},{"key":"12_CR54","volume-title":"Bayesian Brain","author":"E. Todorov","year":"2006","unstructured":"Todorov, E.: Optimal control theory. In: Doya, K. (ed.) Bayesian Brain. MIT Press, Cambridge (2006)"},{"key":"12_CR55","doi-asserted-by":"crossref","DOI":"10.1017\/CBO9780511665479","volume-title":"Analytical Dynamics: A New Approach","author":"F.E. Udwadia","year":"1996","unstructured":"Udwadia, F.E., Kalaba, R.E.: Analytical Dynamics: A New Approach. Cambridge University Press, Cambridge (1996)"},{"issue":"8","key":"12_CR56","doi-asserted-by":"publisher","first-page":"1236","DOI":"10.1109\/TPAMI.2006.166","volume":"28","author":"J. Verbeek","year":"2006","unstructured":"Verbeek, J.: Learning non-linear image manifolds by combining local linear models. IEEE Transactions on Pattern Analysis & Machine Intelligence\u00a028(8), 1236\u20131250 (2006)","journal-title":"IEEE Transactions on Pattern Analysis & Machine Intelligence"},{"key":"12_CR57","unstructured":"Verbeek, J., Roweis, S., Vlassis, N.: Non-linear cca and pca by alignment of local models. In: Advances in Neural Information Processing Systems (2004)"},{"issue":"12","key":"12_CR58","doi-asserted-by":"publisher","first-page":"2602","DOI":"10.1162\/089976605774320557","volume":"17","author":"S. Vijayakumar","year":"2005","unstructured":"Vijayakumar, S., D\u2019Souza, A., Schaal, S.: Incremental online learning in high dimensions. Neural Computation\u00a017(12), 2602\u20132634 (2005)","journal-title":"Neural Computation"},{"issue":"2","key":"12_CR59","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1177\/027836498500400201","volume":"4","author":"T. Yoshikawa","year":"1985","unstructured":"Yoshikawa, T.: Manipulability of robotic mechanisms. The International Journal of Robotics Research\u00a04(2), 3\u20139 (1985)","journal-title":"The International Journal of Robotics Research"}],"container-title":["Studies in Computational Intelligence","From Motor Learning to Interaction Learning in Robots"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-642-05181-4_12.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,11,24]],"date-time":"2020-11-24T02:48:58Z","timestamp":1606186138000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-642-05181-4_12"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010]]},"ISBN":["9783642051807","9783642051814"],"references-count":60,"URL":"https:\/\/doi.org\/10.1007\/978-3-642-05181-4_12","relation":{},"ISSN":["1860-949X","1860-9503"],"issn-type":[{"type":"print","value":"1860-949X"},{"type":"electronic","value":"1860-9503"}],"subject":[],"published":{"date-parts":[[2010]]}}}