{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/cost-functions-for-robot-motion-style","title":"Cost Functions for Robot Motion Style","arxiv_id":"1809.00092","date":"2018-09-01","proceeding":null,"authors":["Allan Zhou","Anca D. Dragan"],"abstract":"We focus on autonomously generating robot motion for day to day physical tasks that is expressive of a certain style or emotion. Because we seek generalization across task instances and task types, we propose to capture style via cost functions that the robot can use to augment its nominal task cost and task constraints in a trajectory optimization process. We compare two approaches to representing such cost functions: a weighted linear combination of hand-designed features, and a neural network parameterization operating on raw trajectory input. For each cost type, we learn weights for each style from user feedback. We contrast these approaches to a nominal motion across different tasks and for different styles in a user study, and find that they both perform on par with each other, and significantly outperform the baseline. Each approach has its advantages: featurized costs require learning fewer parameters and can perform better on some styles, but neural network representations do not require expert knowledge to design features and could even learn more complex, nuanced costs than an expert can easily design.","url_abs":"http://arxiv.org/abs/1809.00092v1","url_pdf":"http://arxiv.org/pdf/1809.00092v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"cost-functions-for-robot-motion-style","repo_url":"https://github.com/AllanYangZhou/robot_style_cost_functions","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"tf","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1809.00092","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1809.00092"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/AllanYangZhou/robot_style_cost_functions","reach":null}],"summary":{"ran_draft_wrong":2},"by_repo_kind":{"listed":{"samples":2,"ran":2,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":2,"samples":[{"code_sha256_prefix":"dea0bc052fcb9f1b","entry":"feature_height","repo":"AllanYangZhou/robot_style_cost_functions","repo_kind":"listed","path":"planners.py","file_url":"https://github.com/AllanYangZhou/robot_style_cost_functions/blob/HEAD/planners.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"MISDECLARED","metamorphic_tier":"invariant","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"dea0bc052fcb9f1b"}},{"code_sha256_prefix":"9d602a5ac3a19345","entry":"feature_orientation","repo":"AllanYangZhou/robot_style_cost_functions","repo_kind":"listed","path":"planners.py","file_url":"https://github.com/AllanYangZhou/robot_style_cost_functions/blob/HEAD/planners.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"MISDECLARED","metamorphic_tier":"invariant","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"9d602a5ac3a19345"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}