IRI - PACOPLUS: Perception, action & cognition through learning of object-action complexes.

Research Project

PACOPLUS: Perception, action & cognition through learning of object-action complexes.

Type

European Project

Start Date

01/02/2006

End Date

31/05/2010

Project Code

FP6-IST-027657

Staff

Torras, Carme

Principal Investigator

Foix, Sergi

Researcher

Thomas, Federico

Researcher

Rozo, Leonel

Researcher

Ruiz de Angulo, Vicente

Researcher

Jiménez, Pablo

Researcher

Alenyà, Guillem

Researcher

Andrade, Juan

Researcher

Agostini, Alejandro Gabriel

Researcher

Celaya, Enric

Member

Project Description

PACO-PLUS is an integrated Project funded by the European Commission through its Cognition Unit under the Information Society Technologies of the sixth Framework Programme (FP6). The project was launched on 1st of February 2006 and will run for a total of 48 months.

PACO-PLUS brings together an interdisciplinary research team to design and build cognitive robots capable of developing perceptual, behavioral and cognitive categories that can be used, communicated and shared with other humans and artificial agents. To demonstrate our approach we are building robot systems that will display increasingly advanced cognitive capabilities over the course of the program. They will learn to operate in the real world and to interact and communicate with humans. To do this they must model and reflectively reason about their perceptions and actions in order to learn, act and react appropriately. We hypothesize that such understanding can only be attained by embodied agents and requires the simultaneous consideration of perception and action

More info at www.paco-plus.org.

Project Publications

Journal Publications

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

Abstract Info PDF
P. Jiménez. Survey on model-based manipulation planning of deformable objects. Robotics and Computer-Integrated Manufacturing, 28(2): 154-163, 2012.

Abstract Info PDF
S. Foix, G. Alenyà and C. Torras. Lock-in time-of-flight (ToF) cameras: a survey. IEEE Sensors Journal, 11(9): 1917-1926, 2011.

Abstract Info PDF
N. Krüger, C. Geib, J. Piater, R. Petrick, M. Steedman, F. Wörgötter, A. Ude, T. Asfour, D. Kraft, D. Omrcen, A. Agostini and R. Dillman. Object-action complexes: grounded abstractions of sensory-motor processes. Robotics and Autonomous Systems, 59(10): 740-757, 2011.

Abstract Info PDF
G. Alenyà and C. Torras. Camera motion estimation by tracking contour deformation: Precision analysis. Image and Vision Computing, 28(3): 474-490, 2010.

Abstract Info PDF
B. Dellen, E.E. Aksoy and F. Wörgötter. Segment tracking via a spatiotemporal linking process including feedback stabilization in an n-d lattice model. Sensors, 9(11): 9355-9379, 2009.

Abstract Info PDF
F. Wörgötter, A. Agostini, N. Krüger, N. Shylo and B. Porr. Cognitive agents: a procedural perspective relying on the predictability of object-action-omplexes (OACs). Robotics and Autonomous Systems, 57(4): 420-432, 2009.

Abstract Info PDF
J. Andrade-Cetto and F. Thomas. A wire-based active tracker. IEEE Transactions on Robotics, 24(3): 642-651, 2008.

Abstract Info PDF
M. Alberich-Carramiñana, G. Alenyà, J. Andrade-Cetto, E. Martinez and C. Torras. Recovering the epipolar direction from two affine views of a planar object. Computer Vision and Image Understanding, 112(2): 195-209, 2008.

Abstract Info PDF
V. Ruiz de Angulo and C. Torras. Learning inverse kinematics: Reduced sampling through decomposition into virtual robots. IEEE Transactions on Systems, Man and Cybernetics: Part B, 38(6): 1571-1577, 2008.

Abstract Info PDF
J.M. Porta, N. Vlassis, M.T. Spaan and P. Poupart. Point-based value iteration for continuous POMDPs. Journal of Machine Learning Research, 7: 2329-2367, 2006.

Abstract Info PDF

Conference Publications

E.E. Aksoy, A. Abramov, F. Wörgötter and B. Dellen. Categorizing object-actions relations from semantic scene graphs, 2010 IEEE International Conference on Robotics and Automation, 2010, Anchorage, AK, USA, pp. 398-405.

Abstract Info PDF
A. Alexey, T. Kulvicius, F. Wörgötter and B. Dellen. Real-time image segmentation on a GPU, 2010 Conference for Young Scientists on Facing the Multicore Challenge, 2010, , pp. 1-13.

Abstract Info PDF
S. Foix, G. Alenyà, J. Andrade-Cetto and C. Torras. Object modeling using a ToF camera under an uncertainty reduction approach, 2010 IEEE International Conference on Robotics and Automation, 2010, Anchorage, AK, USA, pp. 1306-1312.

Abstract Info PDF
L. Rozo, P. Jiménez and C. Torras. Learning force-based robot skills from haptic demonstration, 13th Catalan Conference on Artificial Intelligence, 2010, Espluga de Francolí, Spain, in Artificial Intelligence Research and Development, Vol 220 of Frontiers in Artificial Intelligence and Applications, pp. 331-340, 2010, IOS Press.

Abstract Info PDF
F. Moreno-Noguer, M. Salzmann, V. Lepetit and P. Fua. Capturing 3D stretchable surfaces from single images in closed form, 2009 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2009, Miami, FL, USA, pp. 1842-1849, IEEE.

Abstract Info PDF
B. Dellen and F. Wörgötter. Disparity from stereo-segment silhouettes of weakly-textured images, 2009 British Machine Vision Conference, 2009, London, UK, pp. 111-111.

Abstract Info PDF
S. Ulbrich, V. Ruiz de Angulo, T. Asfour, C. Torras and R. Dillman. Rapid learning of humanoid body schemas with kinematic Bezier maps, 9th IEEE-RAS International Conference on Humanoid Robots, 2009, Paris, pp. 431-438, Unknown.

Abstract Info PDF
G. Alenyà, S. Hernández, J. Andrade-Cetto, A. Sanfeliu and C. Torras. Humanoid robotics and human-centered initiatives at IRI, XXX Jornadas de Automática, 2009, Valladolid, Spain, pp. 1-8, 2009, Universidad de Valladolid, Valladolid, Espanya.

Abstract Info PDF
B. Dellen, G. Alenyà, S. Foix and C. Torras. 3D object reconstruction from Swissranger sensor data using a spring-mass model, 4th International Conference on Computer Vision Theory and Applications, 2009, Lisboa, pp. 368-372, 2009, INSTICC Press.

Abstract Info PDF
A. Agostini, E. Celaya, C. Torras and F. Wörgötter. Action rule induction from cause-effect pairs learned through robot-teacher interaction, 2008 International Conference on Cognitive Systems, 2008, Karlsruhe, Alemanya, pp. 213-218, University of Karlsruhe.

Abstract Info PDF
N. Shylo, F. Wörgötter and B. Dellen. Ascertaining relevant changes in visual data by interfacing AI reasoning and low-level visual information via temporally stable image segments data, 2008 International Conference on Cognitive Systems, 2008, Karlsruhe, Alemanya, pp. 153-160, University of Karlsruhe.

Abstract Info PDF
S. Cuén Rochín, J. Andrade-Cetto and C. Torras. Action selection for robotic manipulation of deformable objects, 2008 Frontier Science Conference Series for Young Researchers: Experimental Cognitive Robotics, 2008, Kanagawa, Japó, pp. 1-6, ESF-JSPS.

Abstract Info PDF
G. Alenyà and C. Torras. Monocular object pose computation with the foveal-peripheral camera of the humanoid robot Armar-III, 11th Catalan Conference on Artificial Intelligence, 2008, Sant Martí d'Empúries, Spain, in Artificial Intelligence Research and Development, Vol 184 of Frontiers in Artificial Intelligence and Applications, pp. 355-362, 2008, IOS Press.

Abstract Info PDF
E. Celaya, J.L. Albarral, P. Jiménez and C. Torras. Visually-guided robot navigation: From artificial to natural landmarks, 6th International Conference on Field and Service Robotics, 2007, Chamonix, França, Vol 42 of Springer Tracts on Advanced Robotics, pp. 287-296, 2007, Springer, Berlin, Alemanya.

Abstract Info PDF
G. Alenyà and C. Torras. Zoom control to compensate camera translation within a robot egomotion estimation approach, 6th International Workshop on Robot Motion and Control, 2007, Bukowy Dworek, Polònia, in Robot Motion and Control 2007, Vol 360 of Lecture Notes in Control and Information Sciences, pp. 1-18, 2007, Springer, Berlin, Alemanya.

Abstract Info PDF
E. Todt and C. Torras. Outdoor landmark-view recognition based on bipartite-graph matching and logistic regression, 2007 IEEE International Conference on Robotics and Automation, 2007, Rome, Italy, pp. 4289-4294, IEEE.

Abstract Info PDF
G. Alenyà, M. Alberich-Carramiñana and C. Torras. Depth from the visual motion of a planar target induced by zooming, 2007 IEEE International Conference on Robotics and Automation, 2007, Rome, Italy, pp. 4727-4732, IEEE.

Abstract Info PDF
M. Alberich-Carramiñana, G. Alenyà, J. Andrade-Cetto, E. Martinez and C. Torras. Affine epipolar direction from two views of a planar contour, 8th International Conference on Advanced Concepts for Intelligent Vision Systems, 2006, Antwerp, Belgica, in Advanced Concepts for Intelligent Vision Systems, Vol 4179 of Lecture Notes in Computer Science, pp. 944-955, 2006, Springer, Berlin, Alemanya.

Abstract Info PDF
T. Vidal-Calleja, A.J. Davison, J. Andrade-Cetto and D.W. Murray. Active control for single camera SLAM, 2006 IEEE International Conference on Robotics and Automation, 2006, Orlando, FL, USA, pp. 1930-1936, IEEE.

Abstract Info PDF
J. Andrade-Cetto and F. Thomas. Wire-based tracking using mutual information, 10th International Symposium on Advances in Robot Kinematics, 2006, Lyubljana, Slovenia, in Advances in Robot Kinematics: Mechanisms and Motion, pp. 3-14, 2006, Springer.

Abstract Info PDF
M. Villamizar, A. Sanfeliu and J. Andrade-Cetto. Computation of rotation local invariant features using the integral image for real time object detection, 18th International Conference on Pattern Recognition, 2006, Hong Kong, Xina, pp. 81-85, 2006, IEEE, Hong Kong, Xina.

Abstract Info PDF
J. Andrade-Cetto and C. Torras. PACO-PLUS: Perception, action and cognition through learning of object-action complexes, 2a Jornada de Recerca en Automàtica, Visió i Robòtica, 2006, Barcelona, Espanya, pp. 265-272, UPC.

Abstract Info PDF
T. Vidal-Calleja, A. Sanfeliu and J. Andrade-Cetto. Autonomous single camera exploration, 2a Jornada de Recerca en Automàtica, Visió i Robòtica, 2006, Barcelona, Espanya, pp. 121-127, UPC.

Abstract Info PDF
M. Villamizar, A. Sanfeliu and J. Andrade-Cetto. Orientation invariant features for multiclass object recognition, 11th Iberoamerican Congress on Pattern Recognition, 2006, Cancún, Mèxic, in Progress in Pattern Recognition, Image Analysis and Applications, Vol 4225 of Lecture Notes in Computer Science, pp. 655-664, 2006, Springer, Berlin, Alemanya.

Abstract Info PDF
M. Villamizar, A. Sanfeliu and J. Andrade-Cetto. Cómputo de características invariantes a la rotación para el reconocimiento de distintas clases de objetos, XXVII Jornadas de Automática, 2006, Almeria, Spain, pp. 96-102, CEA.

Abstract Info PDF

Other Publications

G. Alenyà and C. Torras. Robot egomotion from the deformation of active contours. In Mobile Robots, Perception & Navigation, 1-18. pro Literatur Verlag, 2007.

Abstract Info PDF

S. Foix, G. Alenyà and C. Torras. Exploitation of time-of-flight (ToF) cameras. Technical Report IRI-TR-10-07, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2010.

Abstract Info PDF
L. Rozo, P. Jiménez and C. Torras. Robot learning of container-emptying skills through haptic demonstration. Technical Report IRI-TR-09-05, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2009.

Abstract Info PDF
A. Agostini, E. Celaya, C. Torras and F. Wörgötter. Learning rules from cause-effects explanations. Technical Report IRI-TR-08-04, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2008.

Abstract Info PDF
A. Agostini, F. Wörgötter, E. Celaya and C. Torras. On-line learning of macro planning operators using probabilistic estimations of cause-effects. Technical Report IRI-TR-08-05, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2008.

Abstract Info PDF

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Research Project

PACOPLUS: Perception, action & cognition through learning of object-action complexes.

Type

Start Date

End Date

Project Code

Staff

Principal Investigator

Researcher

Researcher

Researcher

Researcher

Researcher

Researcher

Researcher

Researcher

Member

Project Description

Project Publications

Journal Publications

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

P. Jiménez. Survey on model-based manipulation planning of deformable objects. Robotics and Computer-Integrated Manufacturing, 28(2): 154-163, 2012.

S. Foix, G. Alenyà and C. Torras. Lock-in time-of-flight (ToF) cameras: a survey. IEEE Sensors Journal, 11(9): 1917-1926, 2011.

N. Krüger, C. Geib, J. Piater, R. Petrick, M. Steedman, F. Wörgötter, A. Ude, T. Asfour, D. Kraft, D. Omrcen, A. Agostini and R. Dillman. Object-action complexes: grounded abstractions of sensory-motor processes. Robotics and Autonomous Systems, 59(10): 740-757, 2011.

G. Alenyà and C. Torras. Camera motion estimation by tracking contour deformation: Precision analysis. Image and Vision Computing, 28(3): 474-490, 2010.

B. Dellen, E.E. Aksoy and F. Wörgötter. Segment tracking via a spatiotemporal linking process including feedback stabilization in an n-d lattice model. Sensors, 9(11): 9355-9379, 2009.

F. Wörgötter, A. Agostini, N. Krüger, N. Shylo and B. Porr. Cognitive agents: a procedural perspective relying on the predictability of object-action-omplexes (OACs). Robotics and Autonomous Systems, 57(4): 420-432, 2009.

J. Andrade-Cetto and F. Thomas. A wire-based active tracker. IEEE Transactions on Robotics, 24(3): 642-651, 2008.

M. Alberich-Carramiñana, G. Alenyà, J. Andrade-Cetto, E. Martinez and C. Torras. Recovering the epipolar direction from two affine views of a planar object. Computer Vision and Image Understanding, 112(2): 195-209, 2008.

V. Ruiz de Angulo and C. Torras. Learning inverse kinematics: Reduced sampling through decomposition into virtual robots. IEEE Transactions on Systems, Man and Cybernetics: Part B, 38(6): 1571-1577, 2008.

J.M. Porta, N. Vlassis, M.T. Spaan and P. Poupart. Point-based value iteration for continuous POMDPs. Journal of Machine Learning Research, 7: 2329-2367, 2006.

Conference Publications

E.E. Aksoy, A. Abramov, F. Wörgötter and B. Dellen. Categorizing object-actions relations from semantic scene graphs, 2010 IEEE International Conference on Robotics and Automation, 2010, Anchorage, AK, USA, pp. 398-405.

A. Alexey, T. Kulvicius, F. Wörgötter and B. Dellen. Real-time image segmentation on a GPU, 2010 Conference for Young Scientists on Facing the Multicore Challenge, 2010, , pp. 1-13.

S. Foix, G. Alenyà, J. Andrade-Cetto and C. Torras. Object modeling using a ToF camera under an uncertainty reduction approach, 2010 IEEE International Conference on Robotics and Automation, 2010, Anchorage, AK, USA, pp. 1306-1312.

F. Moreno-Noguer, M. Salzmann, V. Lepetit and P. Fua. Capturing 3D stretchable surfaces from single images in closed form, 2009 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2009, Miami, FL, USA, pp. 1842-1849, IEEE.

B. Dellen and F. Wörgötter. Disparity from stereo-segment silhouettes of weakly-textured images, 2009 British Machine Vision Conference, 2009, London, UK, pp. 111-111.

S. Ulbrich, V. Ruiz de Angulo, T. Asfour, C. Torras and R. Dillman. Rapid learning of humanoid body schemas with kinematic Bezier maps, 9th IEEE-RAS International Conference on Humanoid Robots, 2009, Paris, pp. 431-438, Unknown.

G. Alenyà, S. Hernández, J. Andrade-Cetto, A. Sanfeliu and C. Torras. Humanoid robotics and human-centered initiatives at IRI, XXX Jornadas de Automática, 2009, Valladolid, Spain, pp. 1-8, 2009, Universidad de Valladolid, Valladolid, Espanya.

B. Dellen, G. Alenyà, S. Foix and C. Torras. 3D object reconstruction from Swissranger sensor data using a spring-mass model, 4th International Conference on Computer Vision Theory and Applications, 2009, Lisboa, pp. 368-372, 2009, INSTICC Press.

A. Agostini, E. Celaya, C. Torras and F. Wörgötter. Action rule induction from cause-effect pairs learned through robot-teacher interaction, 2008 International Conference on Cognitive Systems, 2008, Karlsruhe, Alemanya, pp. 213-218, University of Karlsruhe.

S. Cuén Rochín, J. Andrade-Cetto and C. Torras. Action selection for robotic manipulation of deformable objects, 2008 Frontier Science Conference Series for Young Researchers: Experimental Cognitive Robotics, 2008, Kanagawa, Japó, pp. 1-6, ESF-JSPS.

E. Todt and C. Torras. Outdoor landmark-view recognition based on bipartite-graph matching and logistic regression, 2007 IEEE International Conference on Robotics and Automation, 2007, Rome, Italy, pp. 4289-4294, IEEE.

G. Alenyà, M. Alberich-Carramiñana and C. Torras. Depth from the visual motion of a planar target induced by zooming, 2007 IEEE International Conference on Robotics and Automation, 2007, Rome, Italy, pp. 4727-4732, IEEE.

T. Vidal-Calleja, A.J. Davison, J. Andrade-Cetto and D.W. Murray. Active control for single camera SLAM, 2006 IEEE International Conference on Robotics and Automation, 2006, Orlando, FL, USA, pp. 1930-1936, IEEE.

J. Andrade-Cetto and F. Thomas. Wire-based tracking using mutual information, 10th International Symposium on Advances in Robot Kinematics, 2006, Lyubljana, Slovenia, in Advances in Robot Kinematics: Mechanisms and Motion, pp. 3-14, 2006, Springer.

M. Villamizar, A. Sanfeliu and J. Andrade-Cetto. Computation of rotation local invariant features using the integral image for real time object detection, 18th International Conference on Pattern Recognition, 2006, Hong Kong, Xina, pp. 81-85, 2006, IEEE, Hong Kong, Xina.

J. Andrade-Cetto and C. Torras. PACO-PLUS: Perception, action and cognition through learning of object-action complexes, 2a Jornada de Recerca en Automàtica, Visió i Robòtica, 2006, Barcelona, Espanya, pp. 265-272, UPC.

T. Vidal-Calleja, A. Sanfeliu and J. Andrade-Cetto. Autonomous single camera exploration, 2a Jornada de Recerca en Automàtica, Visió i Robòtica, 2006, Barcelona, Espanya, pp. 121-127, UPC.

M. Villamizar, A. Sanfeliu and J. Andrade-Cetto. Cómputo de características invariantes a la rotación para el reconocimiento de distintas clases de objetos, XXVII Jornadas de Automática, 2006, Almeria, Spain, pp. 96-102, CEA.

Other Publications

G. Alenyà and C. Torras. Robot egomotion from the deformation of active contours. In Mobile Robots, Perception & Navigation, 1-18. pro Literatur Verlag, 2007.

S. Foix, G. Alenyà and C. Torras. Exploitation of time-of-flight (ToF) cameras. Technical Report IRI-TR-10-07, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2010.

L. Rozo, P. Jiménez and C. Torras. Robot learning of container-emptying skills through haptic demonstration. Technical Report IRI-TR-09-05, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2009.

A. Agostini, E. Celaya, C. Torras and F. Wörgötter. Learning rules from cause-effects explanations. Technical Report IRI-TR-08-04, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2008.

A. Agostini, F. Wörgötter, E. Celaya and C. Torras. On-line learning of macro planning operators using probabilistic estimations of cause-effects. Technical Report IRI-TR-08-05, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2008.