29 citations · 39 across the 6 of their papers we have counts for
11 papers
Condition-based Design of Variable Impedance Controllers from User Demonstrations
Alberto San-Miguel, Guillem Alenyà, Vicenç Puig
This paper presents an approach to ensure conditions on Variable Impedance Controllers through the off-line tuning of the parameters involved in its description. In particular, we…
Learned Vertex Descent: A New Direction for 3D Human Model Fitting
Enric Corona, Gerard Pons-Moll, Guillem Alenyà +1
We propose a novel optimization-based paradigm for 3D human model fitting on images and scans. In contrast to existing approaches that directly regress the parameters of a low-dime…
Household Cloth Object Set: Fostering Benchmarking in Deformable Object Manipulation
Irene Garcia-Camacho, Júlia Borràs, Berk Calli +2
Benchmarking of robotic manipulations is one of the open issues in robotic research. An important factor that has enabled progress in this area in the last decade is the existence…
SMPLicit: Topology-aware Generative Model for Clothed People
Enric Corona, Albert Pumarola, Guillem Alenyà +2
In this paper we introduce SMPLicit, a novel generative model to jointly represent body pose, shape and clothing geometry. In contrast to existing learning-based approaches that re…
Online Action Recognition
Alejandro Suárez-Hernández, Javier Segovia-Aguas, Carme Torras +1
Recognition in planning seeks to find agent intentions, goals or activities given a set of observations and a knowledge library (e.g. goal states, plans or domain theories). In thi…
Encoding cloth manipulations using a graph of states and transitions
Júlia Borràs, Guillem Alenyà, Carme Torras
Cloth manipulation is very relevant for domestic robotic tasks, but it presents many challenges due to the complexity of representing, recognizing and predicting the behaviour of c…
Leveraging Multiple Environments for Learning and Decision Making: a Dismantling Use Case
Alejandro Suárez-Hernández, Thierry Gaugry, Javier Segovia-Aguas +4
Learning is usually performed by observing real robot executions. Physics-based simulators are a good alternative for providing highly valuable information while avoiding costly an…
STRIPS Action Discovery
Alejandro Suárez-Hernández, Javier Segovia-Aguas, Carme Torras +1
The problem of specifying high-level knowledge bases for planning becomes a hard task in realistic environments. This knowledge is usually handcrafted and is hard to keep updated,…
Dynamic Cloth Manipulation with Deep Reinforcement Learning
Rishabh Jangir, Guillem Alenya, Carme Torras
In this paper we present a Deep Reinforcement Learning approach to solve dynamic cloth manipulation tasks. Differing from the case of rigid objects, we stress that the followed tra…
A Grasping-centered Analysis for Cloth Manipulation
Júlia Borràs, Guillem Alenya, Carme Torras
Compliant and soft hands have gained a lot of attention in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for graspin…
Context-aware Human Motion Prediction
Enric Corona, Albert Pumarola, Guillem Alenyà +1
The problem of predicting human motion given a sequence of past observations is at the core of many applications in robotics and computer vision. Current state-of-the-art formulate…