{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,13]],"date-time":"2026-08-13T23:30:37Z","timestamp":1786663837044,"version":"build-2736575974"},"reference-count":51,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2021,7,1]],"date-time":"2021-07-01T00:00:00Z","timestamp":1625097600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,7,1]],"date-time":"2021-07-01T00:00:00Z","timestamp":1625097600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,7,1]],"date-time":"2021-07-01T00:00:00Z","timestamp":1625097600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100007065","name":"NVIDIA including internships","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100007065","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Automat. Sci. Eng."],"published-print":{"date-parts":[[2021,7]]},"DOI":"10.1109\/tase.2021.3053422","type":"journal-article","created":{"date-parts":[[2021,3,29]],"date-time":"2021-03-29T21:16:09Z","timestamp":1617052569000},"page":"968-987","source":"Crossref","is-referenced-by-count":36,"title":["RMP<i>flow<\/i>: A Geometric Framework for Generation of Multitask Motion Policies"],"prefix":"10.1109","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0610-2070","authenticated-orcid":false,"given":"Ching-An","family":"Cheng","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mustafa","family":"Mukadam","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jan","family":"Issac","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7366-2441","authenticated-orcid":false,"given":"Stan","family":"Birchfield","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dieter","family":"Fox","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Byron","family":"Boots","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nathan","family":"Ratliff","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1985.1087247"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2016.XII.001"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2013.7029990"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-015-0250-y"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642100"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1013433"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487091"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152817"},{"key":"ref35","first-page":"868","article-title":"Automatic supervisory control of the configuration and behaviour of multibody mechanisms","volume":"smc 7","author":"liegeois","year":"1977","journal-title":"IEEE Trans Syst Man Cybern"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/9780262042383.003.0012"},{"key":"ref28","first-page":"204","article-title":"Riemannian motion policy fusion through learnable Lyapunov function reshaping","author":"mukadam","year":"2019","journal-title":"Proc Conf Robot Learn (CoRL)"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/CDC40024.2019.9029810"},{"key":"ref29","first-page":"1457","article-title":"Learning reactive motion policies in multiple task spaces from human demonstrations","author":"rana","year":"2019","journal-title":"Proc Conf Robot Learn (CoRL)"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139778"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.2307\/2001835"},{"key":"ref20","article-title":"RMPflow: A computational graph for automatic motion policy generation","author":"cheng","year":"2018","journal-title":"arXiv 1811 07049"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196644"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794223"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967861"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196866"},{"key":"ref26","article-title":"Multi-objective policy generation for multi-robot systems using Riemannian motion policies","author":"li","year":"2019","journal-title":"arXiv 1902 05177"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793520"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9462-z"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-007-9051-x"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225245"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1098\/rspa.2002.1062"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511665479"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2795645"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989082"},{"key":"ref16","volume":"49","author":"bullo","year":"2004","journal-title":"Geometric control of mechanical systems modeling analysis and design for simple mechanical control systems"},{"key":"ref17","article-title":"Riemannian motion policies","author":"ratliff","year":"2018","journal-title":"arXiv 1801 02854"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139699"},{"key":"ref19","first-page":"441","article-title":"RMPflow: A computational graph for automatic motion policy generation","author":"cheng","year":"2018","journal-title":"Proc Int Worksh Algorithm Found Robot"},{"key":"ref4","article-title":"Trajectory optimization on manifolds with applications to SO(3) and R&#x00B3;XS&#x00B2;","author":"watterson","year":"2018","journal-title":"Proc Robot Sci Syst"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913482017"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1145\/1553374.1553508"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139620"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"},{"key":"ref49","volume":"107","author":"lee","year":"2009","journal-title":"Manifolds and Differential Geometry"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918790369"},{"key":"ref46","author":"taylor","year":"2005","journal-title":"Classical Mechanics"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759488"},{"key":"ref48","first-page":"1","volume":"2","author":"khalil","year":"1996","journal-title":"Noninear Systems"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.2307\/1969989"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908091463"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907326"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1162\/NECO_a_00393"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980228"}],"container-title":["IEEE Transactions on Automation Science and Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8856\/9470960\/09388869.pdf?arnumber=9388869","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T14:52:30Z","timestamp":1652194350000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9388869\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,7]]},"references-count":51,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/tase.2021.3053422","relation":{},"ISSN":["1545-5955","1558-3783"],"issn-type":[{"value":"1545-5955","type":"print"},{"value":"1558-3783","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,7]]}}}