2018/07/12 by Yuchen Zhao, Zhao, Yuchen, Jeevan Manavalan +7
Computer Science · Engineering · #AI-based Problem Solving and Planning #BIM and Construction Integration #FOS: Computer and information sciences #Machine Learning (cs.LG) #Manufacturing Process and Optimization #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1807.04676
openalex publication_date 2018/07/12 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper introduces the first, open source software library for Constraint Consistent Learning (CCL). It implements a family of data-driven methods that are capable of (i) learning state-independent and -dependent constraints, (ii) decomposing the behaviour of redundant systems into task- and null-space parts, and (iii) uncovering the underlying null space control policy. It is a tool to analyse and decompose many everyday tasks, such as wiping, reaching and drawing. The library also includes several tutorials that demonstrate its use with both simulated and real world data in a systematic way. This paper documents the implementation of the library, tutorials and associated helper methods. The software is made freely available to the community, to enable code reuse and allow users to gain in-depth experience in statistical learning in this area.