76 citations
Counting papers with at most 25 authors, so collaboration author lists do not stand in for the people here.
- ETH ZurichCH5 papers
- École Nationale Supérieure de Techniques AvancéesFR4 papers
- Unité d'Informatique et d'Ingénierie des SystèmesFR3 papers
- Centre National de la Recherche ScientifiqueFR2 papers
- École Nationale Supérieure de Techniques Avancées ParisFR2 papers
- Institut national de recherche en sciences et technologies du numériqueFR2 papers
- Sorbonne UniversitéFR2 papers
- Babeș-Bolyai UniversityRO1 paper
- Centre Inria de l'université de BordeauxFR1 paper
- Centre Inria de l'Université de LilleFR1 paper
- Chubu UniversityJP1 paper
- City, University of LondonGB1 paper
27 papers
Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications
Carolina Silva-Plata, Carlos Rosel, Barnabas Gavin Cangan +6
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an onl…
Uncertainty Guarantees on Automated Precision Weeding using Conformal Prediction
Paul Melki, Lionel Bombrun, Boubacar Diallo +2
Precision agriculture in general, and precision weeding in particular, have greatly benefited from the major advancements in deep learning and computer vision. A large variety of c…
Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand
Adrian Hess, Alexander M. Kübler, Benedek Forrai +2
Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, a…
Stretchable Electrohydraulic Artificial Muscle for Full Motion Ranges in Musculoskeletal Antagonistic Joints
Amirhossein Kazemipour, Ronan Hinchet, Robert K. Katzschmann
Artificial muscles play a crucial role in musculoskeletal robotics and prosthetics to approximate the force-generating functionality of biological muscle. However, current artifici…
Low Voltage Electrohydraulic Actuators for Untethered Robotics
Stephan-Daniel Gravert, Elia Varini, Amirhossein Kazemipour +4
Rigid robots can be precise in repetitive tasks, but struggle in unstructured environments. Nature's versatility in such environments inspires researchers to develop biomimetic rob…
Autonomous Marker-less Rapid Aerial Grasping
Erik Bauer, Barnabas Gavin Cangan, Robert K. Katzschmann
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where u…
Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing
Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang +3
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estima…
Sim2Real for Soft Robotic Fish via Differentiable Simulation
John Z. Zhang, Yu Zhang, Pingchuan Ma +5
Accurate simulation of soft mechanisms under dynamic actuation is critical for the design of soft robots. We address this gap with our differentiable simulation tool by learning th…
DREAM Lite: Simplifying Robot Assisted Therapy for ASD
Alexandre Mazel, Silviu Matu
Robot-Assisted Therapy (RAT) has successfully been used to improve social skills in children with autism spectrum disorders (ASD). The DREAM project explores how to deliver effecti…
Sparse Reward Exploration via Novelty Search and Emitters
Giuseppe Paolo, Alexandre Coninx, Stephane Doncieux +1
Reward-based optimization algorithms require both exploration, to find rewards, and exploitation, to maximize performance. The need for efficient exploration is even more significa…
Target Reaching Behaviour for Unfreezing the Robot in a Semi-Static and Crowded Environment
Arturo Cruz-Maya
Robot navigation in human semi-static and crowded environments can lead to the freezing problem, where the robot can not move due to the presence of humans standing on its path and…
Interval centred form for proving stability of non-linear discrete-time systems
Auguste Bourgois, Luc Jaulin
In this paper, we propose a new approach to prove stability of non-linear discrete-time systems. After introducing the new concept of stability contractor, we show that the interva…
Emergence of Spatial Coordinates via Exploration
Alban Laflaquière
Spatial knowledge is a fundamental building block for the development of advanced perceptive and cognitive abilities. Traditionally, in robotics, the Euclidean (x,y,z) coordinate s…
On the Sensory Commutativity of Action Sequences for Embodied Agents
Hugo Caselles-Dupré, Michael Garcia-Ortiz, David Filliat
Perception of artificial agents is one the grand challenges of AI research. Deep Learning and data-driven approaches are successful on constrained problems where perception can be…
MuMMER: Socially Intelligent Human-Robot Interaction in Public Spaces
Mary Ellen Foster, Bart Craenen, Amol Deshmukh +27
In the EU-funded MuMMER project, we have developed a social robot designed to interact naturally and flexibly with users in public spaces such as a shopping mall. We present the la…
DisCoRL: Continual Reinforcement Learning via Policy Distillation
René Traoré, Hugo Caselles-Dupré, Timothée Lesort +4
In multi-task reinforcement learning there are two main challenges: at training time, the ability to learn different policies with a single model; at test time, inferring which of…
Wait for me! Towards socially assistive walk companions
Fernando Garcia, Amit Kumar Pandey, Charles Fattal
The aim of the present study involves designing a humanoid robot guide as a walking trainer for elderly and rehabilitation patients. The system is based on the humanoid robot Peppe…
Symmetry-Based Disentangled Representation Learning requires Interaction with Environments
Hugo Caselles-Dupré, Michael Garcia-Ortiz, David Filliat
Finding a generally accepted formal definition of a disentangled representation in the context of an agent behaving in an environment is an important challenge towards the construc…
Identification of Invariant Sensorimotor Structures as a Prerequisite for the Discovery of Objects
Nicolas Le Hir, Olivier Sigaud, Alban Laflaquière
Perceiving the surrounding environment in terms of objects is useful for any general purpose intelligent agent. In this paper, we investigate a fundamental mechanism making object…
Grounding the Experience of a Visual Field through Sensorimotor Contingencies
Alban Laflaquière
Artificial perception is traditionally handled by hand-designing task specific algorithms. However, a truly autonomous robot should develop perceptive abilities on its own, by inte…
Grounding Perception: A Developmental Approach to Sensorimotor Contingencies
Alban Laflaquière, Nikolas Hemion, Michaël Garcia Ortiz +1
Sensorimotor contingency theory offers a promising account of the nature of perception, a topic rarely addressed in the robotics community. We propose a developmental framework to…
Continual State Representation Learning for Reinforcement Learning using Generative Replay
Hugo Caselles-Dupré, Michael Garcia-Ortiz, David Filliat
We consider the problem of building a state representation model in a continual fashion. As the environment changes, the aim is to efficiently compress the sensory state's informat…
Flatland: a Lightweight First-Person 2-D Environment for Reinforcement Learning
Hugo Caselles-Dupré, Louis Annabi, Oksana Hagen +2
Flatland is a simple, lightweight environment for fast prototyping and testing of reinforcement learning agents. It is of lower complexity compared to similar 3D platforms (e.g. De…
Towards Dialogue-based Navigation with Multivariate Adaptation driven by Intention and Politeness for Social Robots
Chandrakant Bothe, Fernando Garcia, Arturo Cruz Maya +2
Service robots need to show appropriate social behaviour in order to be deployed in social environments such as healthcare, education, retail, etc. Some of the main capabilities th…