Guillem Alenyà

Perception and Manipulation Group
Institut de Robòtica i Informàtica Industrial
CSIC-UPC Llorens Artigas, 4-6
08028, Barcelona
+34 93 4011901
galenya (at)
Institutional page

Guillem Alenyà holds a tenured position at Spanish Scientific Research Council CSIC. He received a PhD degree (Doctor Europeus) from UPC in 2007 with a work on mobile robot navigation using active contours, which he partly developed at the Robosoft company in France, where he was supported by a EU-FP6 Marie-Curie scholarship. He has been visitor at KIT-Karlsruhe (2007), INRIA-Grenoble (2008) and BRL-Bristol(2016). He has participated in numerous scientific and technological transfer projects involving image understanding, next-best-view, rule learning and plan execution tasks. From Jan 2009 to Apr 2011 he served as head of the Robotics Department and is currently part of IRI’s board.

Research interests & selected publications

  • Robot adaptation for assistive robotics

    G. Canal, G. Alenyà, and C. Torras, “Adapting robot task planning to user preferences: an assistive shoe dressing example,” Autonomous Robots, 2019.

    A. Andriella, G. Alenyà, J. Hernandez-Farigola, and C. Torras, “Deciding the different robot roles for patient cognitive training,” International Journal of Human-Computer Studies, vol. 117, pp. 20–29, 2018.

    G. Canal, E. Pignat, G. Alenyà, S. Calinon, and C. Torras, “Joining High-Level Symbolic Planning with Low-Level Motion Primitives in Adaptive HRI: Application to Dressing Assistance,” in IEEE International Conference on Robotics and Automation, 2018, pp. 3273–3278.

  • Learning for manipulation under uncertainty

    D. Martínez, G. Alenyà, and C. Torras, “Relational reinforcement learning with guided demonstrations,” Artificial Intelligence, vol. 247, pp. 295–312, 2017.

    D. Martínez, G. Alenyà, T. Ribeiro, K. Inoue, and C. Torras, “Relational Reinforcement Learning for Planning with Exogenous Effects,” Journal of Machine Learning Research, vol. 18, no. 78, pp. 1–44, 2017.

    D. Martínez, G. Alenyà, and C. Torras, “V-MIN: Efficient reinforcement learning through demonstrations and relaxed reward demands,” in Proceedings of the AAAI Conference on Artificial Intelligence, 2015, pp. 2857–2863.

  • Manipulation of deformable objects

    A. Ramisa, G. Alenyà, F. Moreno-Noguer, and C. Torras, “A 3D descriptor to detect task-oriented grasping points in clothing,” Pattern Recognition, vol. 60, pp. 936–948, 2016.

    E. Corona, G. Alenyà, T. Gabas, and C. Torras, “Active garment recognition and target grasping point detection using deep learning,” Pattern Recognition, vol. 74, pp. 629–641, 2018.

    A. Ramisa, G. Alenyà, F. Moreno-Noguer, and C. Torras, “Learning RGB-D descriptors of garment parts for informed robot grasping,” Engineering Applications of Artificial Intelligence, vol. 35, pp. 246–258, 2014.

  • Time-of-flight cameras for plant monitoring

    S. Foix, G. Alenyà, and C. Torras, “Task-driven active sensing framework applied to leaf probing,” Computers and Electronics in Agriculture, vol. 147, pp. 166–175, 2018.

    S. Foix, G. Alenyà, and C. Torras, “Lock-in time-of-flight (ToF) cameras: a survey,” IEEE Sensors Journal, vol. 11, no. 9, pp. 1917–1926, 2011.

    W. Kazmi, S. Foix, G. Alenyà, and H. J. Andersen, “Indoor and outdoor depth imaging of leaves with time-of-flight and stereo vision sensors: Analysis and comparison,” ISPRS Journal of Photogrammetry and Remote Sensing, vol. 88, pp. 128–146, 2014.

Recent projects

  • SOCRATES is a MSCA-ITN about the effect of Interation Quality in social robots.

  • IMAGINE is a H2020 project that seeks to enable robots to understand the structure of their environment and how it is affected by their actions.

  • SIMBIOTS is a RIS3CAT project co-funded with European Union ERDF funds (European Regional Development Fund) to introduce new collaborative robots into the production chain.

  • CLOTHILDE is an ERC Advanced Grant (granted to Carme Torras) where the aim is to establish the foundations of versatile cloth manipulation by robots.

Current Students

  1. Gerard Canal Camprodon (PhD student - FPU grant) Adapting robot performance to user preferences learned from visual monitoring
  2. Antonio Andriella (PhD student - Marie Curie grant) Robot personalization
  3. Alejandro Suarez (PhD student - FI grant) Planning system for disassembling sequences with a recycling robotic arm
  4. Alberto Olivares (PhD student - project grant) Reconfiguració intuïtiva de robots col·laboratius
  5. Alberto San Miguel (PhD student - FPI MdM grant) Supervision and Fault Tolerance for Assistive Robotics
  6. Enric Corona (PhD student)

  7. Irene Garcia (Mth student)
  8. Ferran Martinez (TFG student)

  9. Sebastian Sanchez (project support)
  10. Rishabh Jangir (project support)