An $L_{0}$-Norm-Based Sparse Projection Neural Network for Cooperative Motion of Dual-Arm Robots Under Physical Constraints
Bibliographic record
Abstract
Sparsification techniques aim to reduce data density by extracting essential features from high-dimensional data, thereby lowering computational and storage demands while enhancing model efficiency and generalization. In the collaborative control of dual-arm robots, promoting sparsity in joint-angle velocities helps minimize the number of active joints, thereby reducing energy consumption and the risk of collisions. Although the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$L_{0}$</tex-math></inline-formula>-norm provides an exact measure of sparsity by counting nonzero elements, its minimization is an NP-hard problem. Therefore, recent studies have employed alternative norms (e.g., the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$L_{1}$</tex-math></inline-formula>-norm) to promote sparsity in joint-angle velocities. However, these alternatives often struggle to achieve consistently high levels of sparsity. To overcome this limitation, a novel <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$L_{0}$</tex-math></inline-formula>-norm-based sparse projection neural network (LS-PNN) is proposed for dual-arm robotic cooperation under physical constraints. Unlike existing approaches, the LS-PNN preserves the sparsity representation accuracy of the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$L_{0}$</tex-math></inline-formula>-norm while avoiding its inherent NP-hard problem. The stability of the LS-PNN is theoretically verified. Simulation and physical robot experiments demonstrate that our proposed LS-PNN significantly outperforms other state-of-the-art schemes when dealing with the sparsity of joint-angle velocities under handling constraints.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".