IRI - MANIPlus: Manipulación robotizada de objetos deformables

Research Project

MANIPlus: Manipulación robotizada de objetos deformables

Type

CSIC Project

Start Date

01/12/2013

End Date

31/12/2018

Project Code

201350E102

Staff

Torras, Carme

Principal Investigator

Alenyà, Guillem

Researcher

Foix, Sergi

Researcher

Colomé, Adrià

Researcher

Suárez, Alejandro

PhD Student

Tellez, Ricardo

Member

Canal, Gerard

Member

Martínez, David

Member

Ramisa, Arnau

Member

Gabás, Antonio

Member

Project Publications

Journal Publications

A. Colomé and C. Torras. Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes. IEEE Transactions on Robotics, 34(3): 602-615, 2018.

Abstract Info PDF
S. Foix, G. Alenyà and C. Torras. Task-driven active sensing framework applied to leaf probing. Computers and Electronics in Agriculture, 147: 166-175, 2018.

Abstract Info PDF
C. Torras. Els reptes de la robòtica assistencial. Memòries de la Reial Acadèmia de Ciències i Arts de Barcelona: 433-457/66/8, 2017.

Abstract Info PDF
A. Agostini, C. Torras and F. Wörgötter. Efficient interactive decision-making framework for robotic applications. Artificial Intelligence, 247: 187-212, 2017.

Abstract Info PDF
F. Husain, H. Schulz, B. Dellen, C. Torras and S. Behnke. Combining semantic and geometric features for object class segmentation of indoor scenes. IEEE Robotics and Automation Letters, 2(1): 49-55, 2017.

Abstract Info PDF
A. Colomé and C. Torras. Dual REPS: A generalization of relative entropy policy search exploiting bad experiences. IEEE Transactions on Robotics, 33(4): 978-985, 2017.

Abstract Info PDF
C. Torras. Service robots for citizens of the future. European Review, 24(1): 17-30, 2016.

Abstract Info PDF
A. Ramisa, G. Alenyà, F. Moreno-Noguer and C. Torras. A 3D descriptor to detect task-oriented grasping points in clothing. Pattern Recognition, 60: 936-948, 2016.

Abstract Info PDF
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, 7(3): 301-313, 2015.

Abstract Info PDF
B. Dellen, H. Scharr and C. Torras. Growth signature of rosette plants from time-lapse video. IEEE/ACM Transactions on Computational Biology and Bioinformatics, 12(6): 1470-1478, 2015.

Abstract Info PDF
G. Alenyà, S. Foix and C. Torras. Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments. Intelligent Service Robotics, 7(4): 211-220, 2014.

Abstract Info PDF

Conference Publications

A. Colomé and C. Torras. Demonstration-free contextualized probabilistic movement primitives, further enhanced with obstacle avoidance, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, Vancouver, Canada, pp. 3190-3195.

Abstract Info PDF
G. Martín, F. Husain, H. Schulz, S. Frintrop, C. Torras and S. Behnke. Semantic segmentation priors for object discovery, 23rd International Conference on Pattern Recognition, 2016, Cancún, Mexico, pp. 549-554.

Abstract Info PDF
D. Martínez, G. Alenyà and C. Torras. V-MIN: Efficient reinforcement learning through demonstrations and relaxed reward demands, 29th AAAI Conference on Artificial Intelligence, 2015, Austin, Texas, pp. 2857-2863.

Abstract Info PDF
A. Colomé, A. Planells and C. Torras. A friction-model-based framework for reinforcement learning of robotic tasks in non-rigid environments, 2015 IEEE International Conference on Robotics and Automation, 2015, Seattle, WA, USA, pp. 5649-5654.

Abstract Info PDF
D. Martínez, G. Alenyà and C. Torras. Safe robot execution in model-based reinforcement learning, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, Hamburg, Germany, pp. 6422-6427.

Abstract Info PDF
S. Foix, G. Alenyà and C. Torras. 3D sensor planning framework for leaf probing, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, Hamburg, Germany, pp. 6501-6506.

Abstract Info PDF
C. Torras. Confluència de ciència i ficció en la robòtica actual, I Congrés Internacional Ciència i Ficció, 2015, Vilanova i la Geltrú, in L’exploració creativa dels mons reals i dels irreals, pp. 213-222, 2016, Edicions Talaiots.

Abstract Info PDF
A. Colomé, G. Neumann, J. Peters and C. Torras. Dimensionality reduction for probabilistic movement primitives, 2014 IEEE-RAS International Conference on Humanoid Robots, 2014, Madrid, Spain, pp. 794-800, IEEE Press.

Abstract Info PDF
D. Martínez, G. Alenyà and C. Torras. Finding safe policies in model-based active learning, 2014 IROS Machine Learning in Planning and Control of Robot Motion Workshop, 2014, Chicago, pp. 1-6.

Abstract Info PDF
C. Torras. Learning algorithms for robot manipulation of clothing and plant leaves, 2014 ICRA Workshop on Advances in Robot Manipulation of Clothes and Flexible Objects, 2014, Hong-Kong.

Abstract Info PDF
C. Torras. Robot manipulation in human environments: Challenges for learning algorithms, 14081 Dagstuhl Seminar, 2014, Dagstuhl, Germany, in Robots Learning from Experiences, Vol 4-2 of Dagstuhl Reports, pp. 99-101, Schloss Dagstuhl.

Abstract Info PDF

Other Publications

F. Husain, B. Dellen and C. Torras. Scene understanding using deep learning. In Handbook of Neural Computation, 373-382. Elsevier, 2017.

Abstract Info PDF
C. Torras. Robot pain: A speculative review of its functions. In Pain and the Conscious Brain, 235-246. Wolters Kluwer, 2016.

Abstract Info PDF

F. Martí and G. Alenyà. Rigid and deformable pick and place algorithms. Technical Report IRI-TR-14-04, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2014.

Abstract Info PDF

Institut de Robòtica i Informàtica Industrial, CSIC-UPC
C/ Llorens i Artigas 4-6, 08028, Barcelona, Spain

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Research Project

MANIPlus: Manipulación robotizada de objetos deformables

Type

Start Date

End Date

Project Code

Staff

Principal Investigator

Researcher

Researcher

Researcher

PhD Student

Member

Member

Member

Member

Member

Project Publications

Journal Publications

A. Colomé and C. Torras. Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes. IEEE Transactions on Robotics, 34(3): 602-615, 2018.

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

C. Torras. Els reptes de la robòtica assistencial. Memòries de la Reial Acadèmia de Ciències i Arts de Barcelona: 433-457/66/8, 2017.

A. Agostini, C. Torras and F. Wörgötter. Efficient interactive decision-making framework for robotic applications. Artificial Intelligence, 247: 187-212, 2017.

F. Husain, H. Schulz, B. Dellen, C. Torras and S. Behnke. Combining semantic and geometric features for object class segmentation of indoor scenes. IEEE Robotics and Automation Letters, 2(1): 49-55, 2017.

A. Colomé and C. Torras. Dual REPS: A generalization of relative entropy policy search exploiting bad experiences. IEEE Transactions on Robotics, 33(4): 978-985, 2017.

C. Torras. Service robots for citizens of the future. European Review, 24(1): 17-30, 2016.

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

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, 7(3): 301-313, 2015.

B. Dellen, H. Scharr and C. Torras. Growth signature of rosette plants from time-lapse video. IEEE/ACM Transactions on Computational Biology and Bioinformatics, 12(6): 1470-1478, 2015.

G. Alenyà, S. Foix and C. Torras. Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments. Intelligent Service Robotics, 7(4): 211-220, 2014.

Conference Publications

A. Colomé and C. Torras. Demonstration-free contextualized probabilistic movement primitives, further enhanced with obstacle avoidance, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017, Vancouver, Canada, pp. 3190-3195.

G. Martín, F. Husain, H. Schulz, S. Frintrop, C. Torras and S. Behnke. Semantic segmentation priors for object discovery, 23rd International Conference on Pattern Recognition, 2016, Cancún, Mexico, pp. 549-554.

D. Martínez, G. Alenyà and C. Torras. V-MIN: Efficient reinforcement learning through demonstrations and relaxed reward demands, 29th AAAI Conference on Artificial Intelligence, 2015, Austin, Texas, pp. 2857-2863.

A. Colomé, A. Planells and C. Torras. A friction-model-based framework for reinforcement learning of robotic tasks in non-rigid environments, 2015 IEEE International Conference on Robotics and Automation, 2015, Seattle, WA, USA, pp. 5649-5654.

D. Martínez, G. Alenyà and C. Torras. Safe robot execution in model-based reinforcement learning, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, Hamburg, Germany, pp. 6422-6427.

S. Foix, G. Alenyà and C. Torras. 3D sensor planning framework for leaf probing, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015, Hamburg, Germany, pp. 6501-6506.

C. Torras. Confluència de ciència i ficció en la robòtica actual, I Congrés Internacional Ciència i Ficció, 2015, Vilanova i la Geltrú, in L’exploració creativa dels mons reals i dels irreals, pp. 213-222, 2016, Edicions Talaiots.

A. Colomé, G. Neumann, J. Peters and C. Torras. Dimensionality reduction for probabilistic movement primitives, 2014 IEEE-RAS International Conference on Humanoid Robots, 2014, Madrid, Spain, pp. 794-800, IEEE Press.

D. Martínez, G. Alenyà and C. Torras. Finding safe policies in model-based active learning, 2014 IROS Machine Learning in Planning and Control of Robot Motion Workshop, 2014, Chicago, pp. 1-6.

C. Torras. Learning algorithms for robot manipulation of clothing and plant leaves, 2014 ICRA Workshop on Advances in Robot Manipulation of Clothes and Flexible Objects, 2014, Hong-Kong.

C. Torras. Robot manipulation in human environments: Challenges for learning algorithms, 14081 Dagstuhl Seminar, 2014, Dagstuhl, Germany, in Robots Learning from Experiences, Vol 4-2 of Dagstuhl Reports, pp. 99-101, Schloss Dagstuhl.

Other Publications

F. Husain, B. Dellen and C. Torras. Scene understanding using deep learning. In Handbook of Neural Computation, 373-382. Elsevier, 2017.

C. Torras. Robot pain: A speculative review of its functions. In Pain and the Conscious Brain, 235-246. Wolters Kluwer, 2016.

F. Martí and G. Alenyà. Rigid and deformable pick and place algorithms. Technical Report IRI-TR-14-04, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2014.