81 citations · 284 across the 35 of their papers we have counts for
43 papers
Learning Joint Space Reference Manifold for Reliable Physical Assistance
Amirreza Razmjoo, Tilen Brecelj, Kristina Savevska +3
This paper presents a study on the use of the Talos humanoid robot for performing assistive sit-to-stand or stand-to-sit tasks. In such tasks, the human exerts a large amount of fo…
Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation
Yiming Li, Yan Zhang, Amirreza Razmjoo +1
In this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic…
Projection-based first-order constrained optimization solver for robotics
Hakan Girgin, Tobias Löw, Teng Xue +1
Robot programming tools ranging from inverse kinematics (IK) to model predictive control (MPC) are most often described as constrained optimization problems. Even though there are…
SoftGPT: Learn Goal-oriented Soft Object Manipulation Skills by Generative Pre-trained Heterogeneous Graph Transformer
Junjia Liu, Zhihao Li, Wanyu Lin +3
Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape chara…
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono +8
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large o…
Contact Optimization with Learning from Demonstration: Application in Long-term Non-prehensile Planar Manipulation
Teng Xue, Sylvain Calinon
Long-term non-prehensile planar manipulation is a challenging task for planning and control, requiring determination of both continuous and discrete contact configurations, such as…
Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation
Teng Xue, Hakan Girgin, Teguh Santoso Lembono +1
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncer…
Geometric Algebra for Optimal Control with Applications in Manipulation Tasks
Tobias Löw, Sylvain Calinon
Many problems in robotics are fundamentally problems of geometry, which lead to an increased research effort in geometric methods for robotics in recent years. The results were alg…
VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior
Julius Jankowski, Lara Brudermüller, Nick Hawes +1
Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such tha…
Reactive Anticipatory Robot Skills with Memory
Hakan Girgin, Julius Jankowski, Sylvain Calinon
Optimal control in robotics has been increasingly popular in recent years and has been applied in many applications involving complex dynamical systems. Closed-loop optimal control…
Tensor Train for Global Optimization Problems in Robotics
Suhan Shetty, Teguh Lembono, Tobias Loew +1
The convergence of many numerical optimization techniques is highly dependent on the initial guess given to the solver. To address this issue, we propose a novel approach that util…
Robot Cooking with Stir-fry: Bimanual Non-prehensile Manipulation of Semi-fluid Objects
Junjia Liu, Yiting Chen, Zhipeng Dong +4
This letter describes an approach to achieve well-known Chinese cooking art stir-fry on a bimanual robot system. Stir-fry requires a sequence of highly dynamic coordinated movement…
Imitation of Manipulation Skills Using Multiple Geometries
Boyang Ti, Yongsheng Gao, Jie Zhao +1
Daily manipulation tasks are characterized by geometric primitives related to actions and object shapes. Such geometric descriptors are poorly represented by only using Cartesian c…
Online and Offline Robot Programming via Augmented Reality Workspaces
Yong Joon Thoo, Jérémy Maceiras, Philip Abbet +3
Robot programming methods for industrial robots are time consuming and often require operators to have knowledge in robotics and programming. To reduce costs associated with reprog…
Mixture Models for the Analysis, Edition, and Synthesis of Continuous Time Series
Sylvain Calinon
This chapter presents an overview of techniques used for the analysis, edition, and synthesis of time series, with a particular emphasis on motion data. The use of mixture models a…
Ergodic Exploration using Tensor Train: Applications in Insertion Tasks
Suhan Shetty, João Silvério, Sylvain Calinon
In robotics, ergodic control extends the tracking principle by specifying a probability distribution over an area to cover instead of a trajectory to track. The original problem is…
Probabilistic Iterative LQR for Short Time Horizon MPC
Teguh Santoso Lembono, Sylvain Calinon
Optimal control is often used in robotics for planning a trajectory to achieve some desired behavior, as expressed by the cost function. Most works in optimal control focus on find…
Motion Mappings for Continuous Bilateral Teleoperation
Xiao Gao, João Silvério, Emmanuel Pignat +3
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smo…
Generative adversarial training of product of policies for robust and adaptive movement primitives
Emmanuel Pignat, Hakan Girgin, Sylvain Calinon
In learning from demonstrations, many generative models of trajectories make simplifying assumptions of independence. Correctness is sacrificed in the name of tractability and spee…
Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network
Teguh Santoso Lembono, Emmanuel Pignat, Julius Jankowski +1
In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static…
A Laser-based Dual-arm System for Precise Control of Collaborative Robots
João Silvério, Guillaume Clivaz, Sylvain Calinon
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in a…
Learning from demonstration using products of experts: applications to manipulation and task prioritization
Emmanuel Pignat, João Silvério, Sylvain Calinon
Probability distributions are key components of many learning from demonstration (LfD) approaches. While the configuration of a manipulator is defined by its joint angles, poses ar…
Active Improvement of Control Policies with Bayesian Gaussian Mixture Model
Hakan Girgin, Emmanuel Pignat, Noémie Jaquier +1
Learning from demonstration (LfD) is an intuitive framework allowing non-expert users to easily (re-)program robots. However, the quality and quantity of demonstrations have a grea…
Analysis and Transfer of Human Movement Manipulability in Industry-like Activities
Noémie Jaquier, Leonel Rozo, Sylvain Calinon
Humans exhibit outstanding learning, planning and adaptation capabilities while performing different types of industrial tasks. Given some knowledge about the task requirements, hu…