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 recent publications
Robot adaptation for assistive robotics
- A. Andriella, C. Torras, and G. Alenyà, “Short-Term Human–Robot Interaction Adaptability in Real-World Environments,” International Journal of Social Robotics, 2019.
- G. Canal, G. Alenyà, and C. Torras, “Adapting robot task planning to user preferences: an assistive shoe dressing example,” Autonomous Robots, vol. 43, no. 6, pp. 1343–1356, 2019.
- A. Suárez, G. Alenyà, and C. Torras, “Practical Resolution Methods for MDPs in Robotics Exemplified with Disassembly Planning,” IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2282–2288, 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.
Learning from Human robot interaction in tasks involving contact
- A. Olivares-Alarcos, S. Foix, and G. Alenyà, “On inferring intentions in shared tasks for industrial collaborative robots,” Electronics, vol. 8, no. 11, p. 1306, 2019.
- A. Andriela, A. Suarez, J. Segovia-Aguas, C.Torras, and G. Alenyà, “Natural teaching of robot-assisted rearranging exercises for cognitive training,” in International Conference on Social Robotics, no. 11876, Springer, 2019, pp. 611–621.
- 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.
Decision making and knowledge representation in HRI
- A. Andriela, C.Torras, and G. Alenyà, “Learning robot policies using a high-level abstraction persona-behaviour simulator,” in IEEE International Symposium on Robot and Human Interactive Communication, 2019.
- A. Suarez, G. Alenyà, and C. Torras, “Interleaving hierarchical task planning and motion constraint testing for dual-arm manipulation,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, pp. 4061–4066.
- G.Canal, G. Alenyà, and C. Torras, “A Taxonomy of Preferences for Physically Assistive Robots,” in IEEE International Symposium on Robot and Human Interactive Communication, 2017, pp. 292–297.
Benchmarking, vision and grasping of deformables
- I. Garcia-Camacho, M. Lippi, M. C. Welle, H. Yin, R. Antanova, A. Varava, J. B. Sol, C. Torras, A. Marino, G. Alenyà, and D. Kragic, “Benchmarking bimanual cloth manipulation,” IEEE Robotics and Automation Letters, 2020.
- J. Borràs, G. Alenya, and C. Torras, “A Grasping-centered Analysis for Cloth Manipulation,” arXiv:1906.08202, 2019.
- 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.
- BURG is a CHIST-ERA about benchmarking in robot manipulation.
- 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.
- Gerard Canal Camprodon (PhD student - FPU grant) Adapting robot performance to user preferences learned from visual monitoring
- Antonio Andriella (PhD student - Marie Curie grant) Robot personalization
- Alejandro Suarez (PhD student - FI grant) Planning system for disassembling sequences with a recycling robotic arm
- Alberto Olivares (PhD student - project grant) Reconfiguració intuïtiva de robots col·laboratius
- Alberto San Miguel (PhD student - FPI MdM grant) Supervision and Fault Tolerance for Assistive Robotics
- Enric Corona (PhD student - FPI grant)
- Rishabh Jangir (project support)