Guillem Alenyà Robotics & Artificial Intelligence

Guillem Alenyà

Publications

Research publications and preprints spanning robot learning, human-robot interaction, assistive robotics and deformable object manipulation.

Journal articles, conference papers and preprints.

View Scholar citation profile

2026

  1. N. Vallès-Peris, C. Barrué, and G. Alenyà, “Relational autonomy with robots. A focused ethnography of meal assistance robots,” International Journal of Social Robotics, vol. 18, no. 44, 2026.
    DOI PDF BibTeX Website
  2. A. Olivares-Alarcos, J. Foix, J. Borràs, G. Canal, and G. Alenya, “Ontological foundations for contrastive explanatory narration of robot plans,” Information sciences, 2026.
    DOI PDF BibTeX Website
  3. V.-L. D. Gusseme, T. Lips, R. Proesmans, J. Borràs, G. Alenyà, A. Verleysen, and F. wyffels, “From Basket to Closet: A Task-Centric Survey of Robotic Laundry,” techrxiv.176823103.36643182, 2026.
    Preprint TechRxiv
    DOI PDF BibTeX Website
  4. A. Aryania, S. Chockalingam, H. K. Rødsethol, and G. Alenyà, “Impact of Design Transparency on Trust and Data Sharing During Human-Robot Interactions in Public Places,” ACM Transactions on Human-Robot Interaction, vol. 15, no. 2, 2026.
    DOI PDF BibTeX Website
  5. T. Love, F. Gebellí, P. Pramanick, A. Andriella, G. Alenyà, A. Garrell, R. Ros, and S. Rossi, “HEXAR: a Hierarchical Explainability Architecture for Robots,” in 2026 IEEE International Conference on Robotics and Automation (ICRA), Vienna, Austria, 2026.
    PDF BibTeX Website
    Best Paper Award on Human-Robot Interaction, ICRA 2026
  6. T. Love, A. Andriella, and G. Alenyà, “Causal Explanations for Robot Decisions and Beliefs,” in Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction, 2026, pp. 1342–1344.
    DOI PDF BibTeX Website
  7. T. Love, V. Bermejo, A. Olivares-Alarcos, A. Andriella, N. Vallès-Peris, C. Barrué, and G. Alenyà, “When to Explain: Field Study Insights on Robot Failure Explanations for Older Adults,” in Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction, 2026, pp. 584–588.
    DOI PDF BibTeX Website
  8. A. Civit, A. Rago, A. Andriella, G. Alenyà, and F. Toni, “From User Preferences to Base Score Extraction Functions in Gradual Argumentation,” in Proceedings of the 25th International Conference on Autonomous Agents and Multiagent Systems, 2026, pp. 2004–2012.
    DOI PDF BibTeX Website
  9. A. Olivares-Alarcos, M. A. F. Shodiq, S. D. Sanjaya, H.-I. Lin, and G. Alenyà, “Blending ontologies and language models to generate sound and natural robot explanations,” in Proceedings of the 25th International Conference on Autonomous Agents and Multiagent Systems, 2026, pp. 3301–3303.
    DOI PDF BibTeX Website

2025

  1. A. Civit, A. Andriella, C. Sierra, and G. Alenyà, “Multi-User Personalisation in Human-Robot Interaction: Resolving Preference Conflicts Using Gradual Argumentation,” arxiv:2511.03576, 2025.
    Preprint arXiv
    PDF BibTeX
  2. F. Gebelli, P. Pramanick, T. Love, R. Ros, A. Garrell, S. Rossi, A. Andriella, and G. Alenya, “Measuring User Understanding in Explainable Human-Robot Interaction: A systematic Review,” Zenodo, 2025.
    Preprint Zenodo
    DOI PDF BibTeX
  3. T. Love, A. Andriella, and G. Alenya, “Temporal Counterfactual Explanations of Behaviour Tree Decisions,” arXiv:2509.07674, 2025.
    Preprint arXiv
    PDF BibTeX
  4. S. Izquierdo, C. Rizzo, and Alenya, “RAIDER: Tool-Equipped Large Language Model Agent for Robotic Action Issue Detection, Explanation and Recovery,” arXiv:2503.17703, 2025.
    Preprint arXiv
    PDF BibTeX Website
  5. A. Longhini, Y. Wang, I. Garcia-Camacho, D. Blanco-Mulero, M. Moletta, M. Welle, G. Alenyà, H. Yin, Z. Erickson, D. Held, J. Borràs, and D. Kragic, “Unfolding the Literature: A Review of Robotic Cloth Manipulation,” Annual Review of Control, Robotics, and Autonomous Systems, vol. 8, 2025.
    DOI PDF BibTeX Website
  6. A. Aryania, R. Huertas, S. Forgas, C. Angulo, and G. Alenyà, “Effects of Privacy Warning on the Intention to Disclose Personal Information During Interaction with a Robot in Public Spaces,” International Journal of Social Robotics, vol. 17, pp. 1055–1073, 2025.
    DOI PDF BibTeX Website
  7. S. Sanjaya, M. Ahsan, A. Olivares-Alarcos, H. Lin, and G. Alenyà, “An investigation of defect inspection performance through human-robot collaboration,” in International Automatic Control Conference, 2025, pp. 1–6.
    DOI PDF BibTeX Website
  8. A. Andriella, C. Torras, and G. Alenyà, Personalising Human-Robot interactions in social contexts. Springer, 2025.
    DOI PDF BibTeX Website

2024

  1. E. Corona, G. Alenyà, G. Pons-Moll, and F. Moreno-Noguer, “LayerNet: High-Resolution Semantic 3D Reconstruction of Clothed People,” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 46, no. 2, pp. 1257–1272, 2024.
    DOI PDF BibTeX Website
  2. S. Forgas, R. Huertas, A. Andriella, and G. Alenyà, “Does the Personality of Consumers Influence the Assessment of the Experience of Interaction with Social Robots?,” International Journal of Social Robotics, vol. 26, pp. 1167–1187, 2024.
    DOI PDF BibTeX Website
  3. A. Olivares-Alarcos, S. Foix, J. Borràs, G. Canal, and G. Alenyà, “Ontological Modeling and Reasoning for Comparison and Contrastive Narration of Robot Plans,” in Proceedings of the 23rd International Conference on Autonomous Agents and Multiagent Systems, 2024, pp. 2405–2407.
    DOI PDF BibTeX Website
  4. S. Izquierdo, G. Canal, G. Alenyà, C. Rizzo, and A. Coles, “Planning for Human-Robot Collaboration Scenarios with Heterogeneous Costs and Durations,” in 27th European Conference on Artificial Intelligence, 2024, pp. 4410–4417.
    DOI PDF BibTeX Website
  5. T. Love, A. Andriella, and G. Alenyà, “What would I do if...? Promoting understanding in HRI through real-time explanations in the wild,” in IEEE International Symposium on Robot and Human Interactive Communication, 2024, pp. 504–509.
    DOI PDF BibTeX Code Website
  6. A. Civit, A. Andriella, M. Antonio, C. Javierre, C. Boqué, and G. Alenyà, “Exploring the Potential of a Robot-Assisted Frailty Assessment System for Elderly Care,” in IEEE International Symposium on Robot and Human Interactive Communication, 2024, pp. 168–175.
    DOI PDF BibTeX Website
  7. A. Aryania, R. Huertas, S. Forgas, C. Angulo, and G. Alenyà, “How do people intend to disclose personal information to a social robot in public spaces?,” in IEEE International Symposium on Robot and Human Interactive Communication, 2024, pp. 1809–1814.
    DOI PDF BibTeX Website
  8. S. Izquierdo, G. Canal, C. Rizzo, and G. Alenyà, “PlanCollabNL: leveraging Large Language Models for adaptive plan generation in human-robot collaboration,” in IEEE International Conference on Robotics and Automation, 2024, pp. 17344–17350.
    DOI PDF BibTeX Website
  9. I. Garcia-Camacho, L. Alberta, M. C. Welle, G. Alenyà, D. Kragic, and J. Borràs, “Standardization of cloth objects and its relevance in robotic manipulation,” in IEEE International Conference on Robotics and Automation, 2024, pp. 8298–8304.
    DOI PDF BibTeX Website
  10. A. Civit, A. Andriella, C. Barrue, M. Antonio, C. Boqué, and G. Alenyà, “Introducing social robots to assess frailty in older adults,” in ACM/IEEE International Conference on Human-Robot Interaction, 2024, pp. 342–346.
    DOI PDF BibTeX Website
  11. T. Love, A. Andriella, and G. Alenyà, “Towards explainable proactive robot interactions for groups of people in unstructured environments,” in ACM/IEEE International Conference on Human-Robot Interaction, 2024, pp. 697–701.
    DOI PDF BibTeX Website Video
  12. C. Barrue, A. Suarez, M. Inzitari, A. Ribera, and G. Alenyà, “NYAM: the role of configurable engagement strategies in robotic-assisted feeding,” in ACM/IEEE International Conference on Human-Robot Interaction, 2024, pp. 228–232.
    DOI PDF BibTeX Website Video
  13. G. Tzelepis, J. Borràs, A. E. Erdal, and G. Alenyà, “Semantic state estimation in robot cloth manipulations using domain adaptation from human demonstrations,” in International Conference on Computer Vision Theory and Applications, 2024.
    PDF BibTeX Website
  14. G. González, A. Martínez, V. Martínez, S. Foix, and G. Alenyà, “Fast ready-to-harvest cotton detection and classification with YOLOv8 in greenhouse crops,” in 7th Iberian Robotics Conference, 2024.
    PDF BibTeX Website

2023

  1. A. San-Miguel, V. Puig, and G. Alenyà, “Condition-based design of variable impedance controllers from user demonstrations,” Control Engineering Practice, vol. 140, p. 105658, 2023.
    DOI PDF BibTeX Website
  2. S. Forgas, R. Huertas, A. Andriella, and G. Alenyà, “Gendered Human-Robot Interactions in Services,” International Journal of Social Robotics, vol. 15, no. 11, pp. 1791–1807, 2023.
    DOI PDF BibTeX Website
  3. S. Forgas, R. Huertas, A. Andriella, and G. Alenyà, “Social robot-delivered customer-facing services: an assessment of the experience,” The Service Industries Journal, vol. 43, no. 3-4, pp. 154–184, 2023.
    DOI PDF BibTeX Website
  4. G. Canal, C. Torras, and G. Alenyà, “Generating predicate suggestions based on the space of plans: an example of planning with preferences,” User Modeling and User-Adapted Interaction, vol. 33, pp. 333–357, 2023.
    DOI PDF BibTeX Website
  5. A. Andriella, C. Torras, C. Abdelnour, and G. Alenyà, “Introducing CARESSER: A framework for in situ learning robot social assistance from expert knowledge and demonstrations,” User Modeling and User-Adapted Interaction, vol. 33, pp. 441–496, 2023.
    DOI PDF BibTeX Code Website Video
  6. A. Suarez, A. Andriella, C. Torras, and G. Alenyà, “User interactions and negative examples to improve the learning of semantic rules in a cognitive exercise scenario,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023, pp. 17953–7960.
    DOI PDF BibTeX Code Website
  7. S. Izquierdo-Badiola, G. Alenyà, and C. Rizzo, “Adaptive Human-Robot Collaboration: Evolutionary Learning of Action Costs Using an Action Outcome Simulator,” in IEEE International Symposium on Robot and Human Interactive Communication, 2023, pp. 1901–1907.
    DOI PDF BibTeX Website
  8. R. Cupec, I. Vidovic, V. Sˇimundic, P. Pejic, S. Foix, and G. Alenyà, “Teaching a Robot Where Doors and Drawers Are and How To Handle Them,” in IEEE International Symposium on Robot and Human Interactive Communication, 2023, pp. 2288–2294.
    DOI PDF BibTeX Website
  9. A. Olivares-Alarcos, A. Andriella, S. Foix, and G. Alenyà, “Robot explanatory narratives of collaborative and adaptive experiences,” in IEEE International Conference on Robotics and Automation, 2023, pp. 11964–11971.
    DOI PDF BibTeX Code Website
  10. G. Tzelepis, J. Borràs, A. E. Erdal, and G. Alenyà, “Semantic state prediction in robotic cloth manipulation,” in Proceedings of the 2023 Intelligent Systems Conference, vol. 4, no. 825, 2023, pp. 205–219.
    DOI PDF BibTeX Code Website
  11. R. Ren, M. Gurnani Rajesh, J. Sanchez-Riera, A. Lopez-Rodriguez, F. Zhang, Y. Tian, G. Alenya, A. Agudo, Y. Demiris, K. Mikolajczyk, and F. Moreno-Noguer, “Grasp-Oriented Fine-Grained Cloth Segmentation without Real Supervision,” in Proceedings of the 2023 6th International Conference on Machine Vision and Applications, 2023, pp. 147–153.
    DOI PDF BibTeX Website
  12. A. Olivares-Alarcos, S. Foix, and and G. Alenyà, “Time to contact for robot safety stop in close collaborative tasks,” in Human-robot collaboration: unlocking the potential for industrial applications, The Institution of Engineering and Technology, 2023, pp. 87–104.
    DOI PDF BibTeX Website

2022

  1. I. Garcia-Camacho, J. Borràs, B. Calli, A. Norton, and G. Alenyà, “Household cloth object set: Fostering benchmarking in deformable object manipulation,” IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 5866–5873, 2022.
    DOI PDF BibTeX Website
  2. A. Olivares-Alarcos, S. Foix, S. Borgo, and G. Alenyà, “OCRA - An ontology for collaborative robotics and adaptation,” Computers in industry, vol. 132, p. 103627, 2022.
    DOI PDF BibTeX Code Website
  3. A. San-Miguel, G. Alenyà, and V. Puig, “Automated Off-line Generation of Stable Variable Impedance Controllers According to Performance Specifications,” IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 5874–5881, 2022.
    DOI PDF BibTeX Website Video
  4. A. Andriella, R. H. S. Forgas, and C. Torras, and G. Alenyà, “‘I know how you feel’ The importance of interaction style on users\’acceptance in an entertainment scenario,” Interaction Studies, vol. 23, no. 1, pp. 21–57, 2022.
    DOI PDF BibTeX Website
  5. S. Forgas, R. Huertas, A. Andriella, and G. Alenyà, “How do Consumers’ Gender and Rational Thinking Affect the Acceptance of Entertainment Social Robots?,” International Journal of Social Robotics, vol. 14, pp. 973–994, 2022.
    DOI PDF BibTeX Website
  6. S. Forgas, R. Huertas, A. Andriella, and G. Alenyà, “The effects of gender and personality of robot assistants on customers acceptance of their service,” Service Bussiness, vol. 16, pp. 359–389, 2022.
    DOI PDF BibTeX Website
  7. E. Corona, G. Pons-Moll, G. Alenyà, and F. Moreno-Noguer, “Learned Vertex Descent: A New Direction for 3D Human Model Fitting,” in European Conference on Computer Vision, 2022.
    DOI PDF BibTeX Code Website
  8. A. Rossi, A. Andriella, S. Rossi, C. Torras, and G. Alenyà, “Evaluating the Effect of Theory of Mind on People’s Trust in a Faulty Robot,” in IEEE International Symposium on Robot and Human Interactive Communication, 2022, pp. 477–482.
    DOI PDF BibTeX Website
  9. B. M. Lopes, R. Marques, T. Santos, J. Sousa, and G. Alenyà, “Relevant Parameters Identification in Traditional & Stretch and Blow Thermoplastics Injection Molding,” in IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, 2022.
    DOI PDF BibTeX Website
  10. S. Izquierdo, G. Canal, C. Rizzo, and G. Alenyà, “Improved Task Planning through Failure Anticipation in Human-Robot Collaboration,” in IEEE International Conference on Robotics and Automation, 2022, pp. 7875–7880.
    DOI PDF BibTeX Website
  11. A. Andriella, C.Torras, and G. Alenyà, “Implications of Robot Backchannelling in Cognitive Therapy,” in International Conference on Social Robotics, no. 13817, Springer, 2022, pp. 546–557.
    DOI PDF BibTeX Website
  12. S. Izquierdo, C. Rizzo, and G. Alenyà, “Planning Interactions as an Event Handling Solution for Successful and Balanced Human-Robot Collaboration,” in 2022 IROS Workshop on Artificial Intelligence for Social Robots Interacting with Humans in the Real World, 2022.
    PDF BibTeX Website
  13. A. Suarez, A. Andriella, G. Alenyà, and C. Torras, “Proactive learning of cognitive exercises with a social robot,” in 2022 ICRA Workshop on Prediction and Anticipation Reasoning in Human Robot Interaction (PAR-HRI), 2022.
    PDF BibTeX Website
  14. I. Garcia-Camacho, J. Borràs, and G. Alenyà, “Knowledge representation to enable high-level planning in cloth manipulation tasks,” in ICAPS Workshop on Knowledge Engineering for Planning and Scheduling, 2022.
    PDF BibTeX Website
  15. I. Garcia-Camacho, J. Borràs, B. Calli, A. Norton, and G. Alenyà, “Cloth manipulation and perception competition,,” in ICRA Workshop on Representing and Manipulating Deformable Objects, 2022.
    PDF BibTeX Website

2021

  1. G. Canal, C. Torras, and G. Alenyà, “Are preferences useful for better assistance?: A Physically Assistive Robotics user study,” ACM Transactions on Human-Robot Interaction, vol. 10, no. 4, pp. 1–19, 2021.
    DOI PDF BibTeX Website
  2. A. San-Miguel, V. Puig, and G. Alenyà, “Disturbance observer-based LPV feedback control of a N-DoF robotic manipulator including compliance through gain shifting,” Control Engineering Practice, vol. 115, p. 104887, 2021.
    DOI PDF BibTeX Website Presentation
  3. A. Carfì, T. Patten, Y. Kuang, A. Hammoud, M. Alameh, E. Maiettini, A. I. Weinberg, D. Faria, F. Mastrogiovanni, G. Alenyà, L. Natale, V. Perdereau, M. Vincze, and A. Billard, “Hand-Object Interaction: From Human Demonstrations to Robot Manipulation,” Frontiers in Robotics and AI, vol. 8, p. 316, 2021.
    DOI PDF BibTeX Website
  4. A. Andriella, H. Siqueira, D. Fu, S. Magg, P. Barros, S. Wermter, C. Torras, and G. Alenyà, “Do I Have a Personality? Endowing Care Robots with Context-Dependent Personality Traits,” International Journal of Social Robotics, vol. 13, no. 8, pp. 2081–2102, 2021.
    DOI PDF BibTeX Website
  5. E. Corona, A. Pumarola, G. Alenyà, G. Pons-Moll, and F. Moreno-Noguer, “SMPLicit: Topology-aware generative model for clothed people,” in IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2021, pp. 11870–11880.
    DOI PDF BibTeX Code Website
  6. A. Suarez-Hern\´andez, A. Andriella, A. Taranović, J. Segovia-Aguas, C. Torras, and G. Alenyà, “Automatic Learning of Cognitive Exercises for Socially Assistive Robotics,” in IEEE International Symposium on Robot and Human Interactive Communication, 2021, pp. 139–146.
    DOI PDF BibTeX Website Video
  7. B. M. Lopes, J. Sousa, and G. Alenyà, “Machine Learning Methods for Quality Prediction in Thermoplastics Injection Molding,” in IEEE International Conference on Electrical, Computer and Energy Technologies, 2021, pp. 1–6.
    DOI PDF BibTeX Website
  8. B. M. Lopes, J. Sousa, and G. Alenyà, “Data Acquisition and Monitoring System for Legacy Injection Machines,” in IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, 2021.
    DOI PDF BibTeX Website
  9. N. Hansen, R. Jangir, Y. Sun, G. Alenyà, P. Abbeel, A. A. Efros, L. Pinto, and X. Wang, “Self-Supervised Policy Adaptation during Deployment,” in International Conference on Learning Representations, 2021.
    PDF BibTeX Website Video Presentation
  10. A. Suarez, J. Segovia, C. Torras, and G. Alenyà, “Online Action Recognition,” in Proceedings of the AAAI Conference on Artificial Intelligence, 2021.
    PDF BibTeX Code Website
  11. I. Garcia-Camacho, J. Borras, and G. Alenyà, “Benchmarking cloth manipulation using action graphs: an example in placing flat,” in IROS Workshop on Benchmarking of robotic grasping and manipulation: protocols, metrics and data analysis, 2021.
    PDF BibTeX Website
  12. A. Olivares-Alarcos, S. Foix, and G. Alenyà, “Knowledge Representation for Explainability in Collaborative Robotics and Adaptation,” in 3rd International Workshop on Data meets Applied Ontologies (DAO-XAI), 2021.
    PDF BibTeX Website

2020

  1. J. Borràs, G. Alenyà, and C. Torras, “A grasping-centered analysis for cloth manipulation,” IEEE Transactions on Robotics, vol. 36, no. 3, pp. 924–936, 2020.
    DOI PDF BibTeX Website Presentation
  2. A. Andriella, C. Torras, and G. Alenyà, “Cognitive System Framework for Brain-Training Exercise Based on Human-Robot Interaction,” Cognitive Computation, vol. 12, no. 4, pp. 793–810, 2020.
    DOI PDF BibTeX Website
  3. 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, vol. 5, no. 2, pp. 1111–1118, 2020.
    DOI PDF BibTeX Website
  4. S. Donaire, J. Borràs, G. Alenyà, and C. Torras, “A Versatile Gripper for Cloth Manipulation,” IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6520–6527, 2020.
    DOI PDF BibTeX Website Presentation
  5. A. Andriella, C. Torras, and G. Alenyà, “Short-Term Human-Robot Interaction Adaptability in Real-World Environments,” International Journal of Social Robotics, vol. 12, no. 3, pp. 639–657, 2020.
    DOI PDF BibTeX Website
  6. A. Suarez, T. Gaury, J. Segovia, A. Bernardin, C. T. M. Marchal, and G. Alenyà, “Leveraging multiple environments for learning and decision making: a dismantling use case,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, pp. 6902–6908.
    DOI PDF BibTeX Website
  7. E. Corona, A. Pumarola, G. Alenyà, F. Moreno-Noguer, and G. Rogez, “Ganhand: Predicting human grasp affordances in multi-object scenes,” in IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020, pp. 5031–5041.
    DOI PDF BibTeX Code Website Video
  8. E. Corona, A. Pumarola, G. Alenyà, and F. Moreno-Noguer, “Context-aware human motion prediction,” in IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020, pp. 6992–7001.
    DOI PDF BibTeX Website Video
  9. R. Jangir, G. Alenya, and C. Torras, “Dynamic Cloth Manipulation with Deep Reinforcement Learning,” in IEEE International Conference on Robotics and Automation, 2020, pp. 4630–4636.
    DOI PDF BibTeX Website Video
  10. A. Andriella, R. Huertas, S. Forgas, C.Torras, and G. Alenyà, “Discovering SOCIABLE: Using a Conceptual Model to Evaluate the Legibility and Effectiveness of Backchannel Cues in an Entertainment Scenario,” in IEEE International Symposium on Robot and Human Interactive Communication, 2020, pp. 752–759.
    DOI PDF BibTeX Website
  11. M. Maceira, A. Olivares-Alarcos, and G. Alenyà, “Recurrent Neural Networks for Inferring Intentions in Shared Tasksfor Industrial Collaborative Robot,” in IEEE International Symposium on Robot and Human Interactive Communication, 2020, pp. 665–670.
    DOI PDF BibTeX Website
  12. A. Suarez-Hern\´andez, J. Segovia-Aguas, C. Torras, and G. Alenyà, “STRIPS Action Discovery,” in AAAI 2020 workshop on Generalization in Planning (GenPlan), 2020.
    PDF BibTeX Website
  13. I. Geer, M. Maceira, J. Borràs, C. Torras, and G. Alenyà, “Interaction identification through tactile sensing during cloth manipulation using a 3-axis touch sensor,” in IROS Workshop on RObotic MAnipulation of Deformable Objects, 2020.
    PDF BibTeX Website Video
  14. A. San-Miguel, V. Puig, and G. Alenyà, “Fault-tolerant control of a service robot,” in Fault Diagnosis and Fault-tolerant Control of Robotic Systems, The Institution of Engineering and Technology, 2020.
    PDF BibTeX Website

2019

  1. A. Suarez, C. Torras, and G. Alenyà, “Practical Resolution Methods for MDPs in Robotics Exemplified with Disassembly Planning,” IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2282–2288, 2019.
    DOI PDF BibTeX Website
  2. 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.
    DOI PDF BibTeX Website
  3. 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.
    DOI PDF BibTeX Code Dataset Website
  4. A. Olivares-Alarcos, D. Beßler, A. Khamis, P. Goncalves, M. K. Habib, J. Bermejo-Alonso, M. Barreto, M. Diab, J. Rosell, J. Quintas, J. Olszewska, H. Nakawala, E. Pignaton, A. Gyrard, S. Borgo, G. Alenyà, M. Beetz, and H. Li, “A review and comparison of ontology-based approaches to robot autonomy,” The Knowledge Engineering Review, vol. 34, p. e29, 2019.
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  5. A. Jevtić, A. Flores, G. Alenyà, G. Chance, P. Caleb-Solly, S. Dogramadzi, and C. Torras, “Personalized robot assistant for support in dressing,” IEEE Transactions on Cognitive and Developmental Systems, vol. 11, no. 3, pp. 363–374, 2019.
    DOI PDF BibTeX Website
  6. A. Andriella, 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.
    DOI PDF BibTeX Website
  7. A. San-Miguel, V. Puig, and G. Alenyà, “Fault-tolerant Control of a Service Robot using a LPV Robust Unknown Input Observer,” in 4th International Conference on Control and Fault-Tolerant Systems (SYSTOL), 2019, pp. 207–212.
    DOI PDF BibTeX Website
  8. A. Andriella, 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.
    DOI PDF BibTeX Website
  9. G. Canal, M. Cashmore, S. Krivic, G. Alenyà, D. Magazzeni, and C. Torras, “Probabilistic planning for robotics with ROSPlan,” in Towards Autonomous Robotic Systems Conference, no. 11649, Springer, 2019, pp. 236–250.
    DOI PDF BibTeX Website
  10. A. Andriella, J. Lobo, C. Torras, and G. Alenyà, “Robot interaction adaptation for healthcare assistance,” in Artificial Intelligence & Robotics in Service Interactions (AIRSI), 2019.
    PDF BibTeX Website

2018

  1. G. Chance, A. Jevtić, P. Caleb-Solly, G. Alenyà, C. Torras, and S. Dogramadzi, “‘Elbows out’ - predictive tracking of partially occluded pose for robot-assisted dressing,” IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3598–3605, 2018.
    DOI PDF BibTeX Website
  2. 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.
    DOI PDF BibTeX Website
  3. 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.
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  4. 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.
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  5. A. Jevtić, A. Colomé, G. Alenyà, and C. Torras, “Robot motion adaptation through user intervention and reinforcement learning,” Pattern Recognition Letters, vol. 105, pp. 67–75, 2018.
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  6. T. R. Savarimuthu, A. G. Buch, C. Schlette, N. Wantia, J. Rossmann, D. Martinez, G. Alenyà, C. Torras, A. Ude, B. Nemec, A. Kramberger, F. Worgotter, E. Aksoy, J. Papon, S. Haller, J. Piater, and N. Kruger, “Teaching a Robot the Semantics of Assembly Tasks,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 48, no. 5, pp. 670–692, 2018.
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  7. 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.
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  8. 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.
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  9. M. Vila, G. Canal, and G. Alenyà, “Towards safety in physically assistive robots: eating assistance,” in IROS Workshop on Robots for Assisted Living, 2018.
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2017

  1. 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.
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  2. G. Alenyà, R. Téllez, K. O’Regan, and C. Angulo, “Guest Editorial Sensorimotor Contingencies for Cognitive Robotics,” IEEE Transactions on Cognitive and Developmental Systems, vol. 9, no. 2, pp. 97–99, 2017.
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  3. A. Agostini, G. Alenyà, A. Fischbach, H. Scharr, F. Wörgötter, and C. Torras., “A cognitive architecture for automatic gardening,” Computers and Electronics in Agriculture, no. 138, pp. 69–79, 2017.
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  4. D. Martínez, G. Alenyà, and C. Torras, “Relational reinforcement learning with guided demonstrations,” Artificial Intelligence, vol. 247, pp. 295–312, 2017.
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  5. 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.
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  6. A. Colome, S. Foix, G. Alenyà, and C. Torras, “Reward-weighted GMM and its application to action-selection in robotized shoe 3 dressing,” in Robot 2017: Third Iberian Robotics Conference, no. 694, Springer, 2017, pp. 141–152.
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  7. N. Covallero, D. Martínez, G. Alenyà, and C. Torras, “Planning Clearing Actions in Cluttered Scenes by Phasing in Geometrical Constraints,” in Recent Advances in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 300, I. Aguiló, R. Alquézar, C. Angulo, A. Ortiz, and J. Torrens, Eds. IOS Press, 2017, pp. 233–238.
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2016

  1. 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.
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  2. J. G. Hoyos, F. Prieto, G. Alenyà, and C. Torras., “Execution Fault Recovery in Robot Programming by Demonstration Using Multiple Models,” IEEE Latin America Transactions, vol. 14, no. 2, pp. 517–523, 2016.
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  3. J. G. Hoyos, F. Prieto, G. Alenyà, and C. Torras., “Incremental Learning of Skills in a Task-Parameterized Gaussian Mixture Model,” Journal of Intelligent and Robotic Systems, vol. 82, no. 1, pp. 81–99, 2016.
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  4. D. Martínez, G. Alenyà, C. Torras, T. Ribeiro, and K. Inoue, “Learning relational dynamics of stochastic domains for planning,” in International Conference on Automated Planning and Scheduling, 2016, pp. 235–243.
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  5. G. Canal, G. Alenyà, and C. Torras, “Personalization Framework for Adaptive Robotic Feeding Assistance,” in International Conference on Social Robotics, no. 9979, Springer, 2016, pp. 22–31.
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  6. A. Jevtic, A. Colomé, G. Alenyà, and C. Torras, “User evaluation of an interactive learning framework for single-arm and dual-arm robots,” in International Conference on Social Robotics, no. 9979, Springer, 2016, pp. 52–61.
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  7. A. Gabas, E. Corona, G. Alenyà, and C. Torras, “Robot-aided cloth classification using depth information and CNNs,” in Conference on Articulated Motion and Deformable Objects, no. 9756, Springer, 2016, pp. 16–23.
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2015

  1. C. Angulo, S. Pfeiffer, R. Tellez, and G. Alenyà, “Evaluating the use of robots to enlarge AAL services,” Journal of Ambient Intelligence and Smart Environments, vol. 7, no. 3, pp. 301–313, 2015.
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  2. D. Martínez, G. Alenyà, and C. Torras, “Planning robot manipulation to clean planar surfaces,” Engineering Applications of Artificial Intelligence, vol. 39, pp. 23–32, 2015.
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  3. S. Foix, G. Alenyà, and C. Torras, “ 3D Sensor planning framework for leaf probing,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, pp. 6501–6506.
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  4. D. Martínez, G. Alenyà, and C. Torras, “Safe robot execution in model-based reinforcement learning,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, pp. 6422–6427.
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  5. 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.
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  6. G. Alenyà, S. Foix, and C. Torras, “ToF Cameras for Eye-in-Hand Robotics,” in Optical Imaging Devices: New Technologies and Applications, D. K. Ajit Khosla, Ed. CRC Press - Francis Taylor Group, 2015, pp. 117–148.
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  7. Y. Isleyici and G. Alenyà, “Teaching Grasping Points Using Natural Movements,” in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 277, IOS Press, 2015, pp. 275–278.
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  8. D. Martínez, T. Ribeiro, K. Inoue, G. Alenyà, and C. Torras, “Learning Probabilistic Action Models from Interpretation Transitions,” in Technical Communication of the International Conference on Logic Programming, 2015.
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2014

  1. 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.
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  2. G. Alenyà, S. Foix, and C. Torras, “ToF cameras for active vision in robotics,” Sensors and Actuators A: Physical, vol. 218, pp. 10–22, 2014.
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  3. 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.
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  4. G. Alenyà, S. Foix, and C. Torras., “Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments,” Intelligent Service Robotics, vol. 7, no. 4, pp. 211–220, 2014.
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  5. D. Martínez, G. Alenyà, P. Jiménez, C. Torras, J. Rossmann, N. Wantia, A. E. Erdal, S. Haller, and J. Piater, “Active learning of manipulation sequences,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2014, pp. 5671–5678.
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  6. F. Husain, A. Colomé, B. Dellen, G. Alenyà, and C. Torras, “Realtime tracking and grasping of a moving object from range video,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2014, pp. 2617–2622.
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  7. G. Alenyà, J. L. Rivero, A. Rull, P. Grosch, and S. Hernández, “The HumanoidLab: Involving students in a research centre through an educational initiative,” in 6th International Conference on Computer Supported Education, 2014, pp. 213–220.
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  8. D. Martínez, G. Alenyà, and C. Torras, “Finding safe policies in model-based active learning,” in IROS Machine Learning in Planning and Control of Robot Motion Workshop, 2014.
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2013

  1. G. Alenyà, B. Dellen, S. Foix, and C. Torras, “Robotized plant probing: Leaf segmentation utilizing time-of-flight data,” IEEE Robotics and Automation Magazine, vol. 20, no. 3, pp. 50–59, 2013.
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  2. A. Colomé, D. Pardo, G. Alenyà, and C. Torras, “External force estimation during compliant robot manipulation,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2013, pp. 3535–3540.
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  3. A. Ramisa, G. Alenyà, F. Moreno-Noguer, and C. Torras, “FINDDD: A fast 3D descriptor to characterize textiles for robot manipulation,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, pp. 824–830.
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  4. D. Martínez, G. Alenyà, and C. Torras, “Planning surface cleaning tasks by learning uncertain drag actions outcomes,” in ICAPS Workshop on Planning and Robotics, 2013, pp. 106–111.
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  5. A. Colomé, G. Alenyà, and C. Torras, “Handling high parameter dimensionality in reinforcement learning with dynamic motor primitives,” in ICRA Workshop on Novel Methods for Learning and Optimization of Control Policies and Trajectories for Robotics, 2013.
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2012

  1. W. Kazmi, S. Foix, and G. Alenyà, “Plant leaf imaging using time of flight camera under sunlight, shadow and room conditions,” in IEEE International Symposium on Robotic and Sensors Environments, 2012, pp. 192–197.
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  2. A. Ramisa, G. Alenyà, F. Moreno-Noguer, and C. Torras, “Using depth and appearance features for informed robot grasping of highly wrinkled clothes,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2012, pp. 1703–1708.
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  3. E. Simo-Serra, A. Ramisa, G. Alenyà, C. Torras, and F. Moreno-Noguer, “Single image 3D human pose estimation from noisy observations,” in IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2012, pp. 2673–2680.
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  4. P. Monsó, G. Alenyà, and C. Torras, “POMDP approach to robotized clothes separation,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, pp. 1324–1329.
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  5. S. Foix, S. Kriegel, S. Fuchs, G. Alenyà, and C. Torras, “Information-gain view planning for free-form object reconstruction with a 3D ToF camera,” in Advanced Concepts for Intelligent Vision Systems Conference, vol. 7517, 2012, pp. 36–47.
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  6. F. Rigual, A. Ramisa, G. Alenyà, and C. Torras, “Object detection methods for robot grasping: Experimental assessment and tuning,” in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 248, IOS Press, 2012, pp. 123–132.
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  7. G. Alenyà, A. Ramisa, F. Moreno-Noguer, and C. Torras, “Characterization of textile grasping experiments,” in ICRA Workshop on Conditions for Replicable Experiments and Performance Comparison in Robotics Research, 2012.
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  8. A. Colomé, D. Pardo, G. Alenyà, and C. Torras, “External force estimation for textile grasp detection,” in IROS Workshop Beyond Robot Grasping: Modern Approaches for Learning Dynamic Manipulation, 2012.
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  9. D. Pardo, L. Rozo, G. Alenyà, and C. Torras, “Dynamically consistent probabilistic model for robot motion learning,” in IROS Workshop on Learning and Interaction in Haptic Robots, 2012.
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  10. G. Alenyà, B. Dellen, S. Foix, and C. Torras, “Robotic leaf probing via segmentation of range data into surface patches,” in IROS Workshop on Agricultural Robotics: Enabling Safe, Efficient, Affordable Robots for Food Production, 2012.
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  11. G. Alenyà and R. Téllez, “The Reem\@IRI 2012 Robocup\@Home team description,” in RoboCup International Symposium, 2012.
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2011

  1. 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.
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  2. G. Alenyà, B. Dellen, and C. Torras, “3D modelling of leaves from color and ToF data for robotized plant measuring,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 3408–3414.
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  3. A. Ramisa, G. Alenyà, F. Moreno-Noguer, and C. Torras, “Determining Where to Grasp Cloth Using Depth Information,” in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 232, C. Fernández, H. Geffner, and F. Manyà, Eds. IOS Press, 2011.
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  4. S. Foix, G. Alenyà, and C. Torras, “Towards plant monitoring through Next Best View,” in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 232, C. Fernández, H. Geffner, and F. Manyà, Eds. IOS Press, 2011, pp. 101–109.
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  5. B. Dellen, G. Alenyà, S. Foix, and C. Torras, “Segmenting color images into surface patches by exploiting sparse depth data,” in IEEE Workshop on Applications of Computer Vision, 2011, pp. 591–598.
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  6. G. Alenyà, F. Moreno-Noguer, A. Ramisa, and C. Torras, “Active perception of deformable objects using 3D cameras,” in Workshop de Robótica Experimental, 2011, pp. 434–440.
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2010

  1. G. Alenyà and C. Torras, “Camera motion estimation by tracking contour deformation: Precision analysis,” Image and Vision Computing, vol. 28, no. 3, pp. 474–490, 2010.
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  2. L. Trilla and G. Alenyà, “Planning stacking operations with an unknown number of objects,” in Proceedings of the International Conference on Informatics in Control, Automation and Robotics, Funchal, 2010, pp. 348–353.
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  3. S. Foix, G. Alenyà, J. Andrade-Cetto, and C. Torras, “Object Modeling using a ToF Camera under an Uncertainty Reduction Approach,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2010, pp. 1306–1312.
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2009

  1. G. Alenyà, A. Nègre, and J. L. Crowley, “A comparison of three methods for measure of Time to Contact,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, pp. 4565–4570.
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  2. G. Alenyà, A. Nègre, and J. L. Crowley, “Time to contact for obstacle avoidance,” in Proceedings of the European Conference on Mobile Robotics, 2009, pp. 19–24.
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  3. G. Alenyà, S. Hernández, J. Andrade-Cetto, A. Sanfeliu, and C. Torras, “Humanoid robotics and human-centered initiatives at IRI,” in Jornadas de Automática, 2009.
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  4. B. Dellen, G. Alenyà, S. Foix, and C. Torras, “3D Object reconstruction from Swissranger sensors data using a spring-mass model,” vol. 2, A. Ranchordas and H. Araújo, Eds. INSTICC Press, 2009, pp. 368–372.
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2008

  1. M. Alberich-Carramiñana, G. Alenyà, J. Andrade-Cetto, E.Martínez, and C. Torras, “Recovering Epipolar Direction from Two Affine Views of a Planar Object,” Computer Vision and Image Understanding, vol. 122, no. 2, pp. 195–209, 2008.
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  2. G. Alenyà and C. Torras, “Monocular object pose computation with the foveal-peripheral camera of the humanoid robot Armar-III,” in Artificial Intelligence Research and Development, Frontiers in Artificial Intelligence and Applications, vol. 184, T. Alsinet, J. Puyol-Gruart, and C. Torras, Eds. IOS Press, 2008, pp. 355–362.
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2007

  1. G. Alenyà and C. Torras, “Depth from the visual motion of a planar target induced by zooming,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2007, pp. 4727–4732.
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  2. G. Alenyà and C. Torras, “Robot egomotion from the deformation of active contours,” in Mobile Robots, Perception and Navigation, S. Kolski, Ed. pro Literatur Verlag, 2007, pp. 1–18.
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  3. G. Alenyà and C. Torras, “Zoom control to compensate camera translation within a robot egomotion estimation approach,” in Robot Motion and Control, Lecture Notes in Control and Information Sciences, vol. 360, K. Kozlowski, Ed. Springer, 2007, pp. 81–88.
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  4. G. Alenyà, “Estimació del moviment de robots mitjançant contorns actius,” PhD thesis, Universitat Politècnica de Catalunya, 2007.
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2006

  1. M. Alberich-Carramiñana, G. Alenyà, J. Andrade-Cetto, E. Martínez, and C. Torras, “Affine Epipolar Direction from Two Views of a Planar Contour,” in Advanced Concepts for Intelligent Vision Systems Conference, vol. 4179, 2006, pp. 944–955.
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  2. G. Alenyà and C. Torras, “Anàlisi estadístic de la propagació de l’error en estimar el moviment 3D a partir d’imatges,” in Proceedings of the 2nd. Jornada de Recerca en Automàtica, Visió i Robòtica, A. Chao and J. C. Aguado, Eds. 2006, pp. 161–168.
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2005

  1. G. Alenyà, J. Escoda, A.B.Martínez, and C. Torras, “Using laser and vision to locate a robot in an industrial environment: A practical experience,” in Proceedings of the IEEE International Conference on Robotics and Automation, 2005, pp. 3539–3544.
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2004

  1. G. Alenyà, E. Martínez, and C. Torras, “Fusing visual and inertial sensing to recover robot egomotion,” Journal of Robotic Systems, vol. 21, no. 1, pp. 23–32, 2004.
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  2. G. Alenyà, E. Martínez, and C. Torras, “Estimacià del moviment d’un robot observant contorns actius,” in Proceedings of the Jornada de Recerca en Automàtica, Visió i Robòtica, A. Grau and A. V. Puig, Eds. 2004, pp. 319–324.
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