Research line
Perception and Manipulation
The research of PERCEPTION AND MANIPULATION group focuses on enhancing the perception, learning, and planning capabilities of robots to achieve higher degrees of autonomy and user-friendliness during everyday manipulation tasks. Some topics addressed are the geometric interpretation of perceptual information, construction of 3D object models, action selection and planning, reinforcement learning, and teaching by demonstration. ❯ See our presentation video ❯
Head of line: Carme Torras Genís
Research areas
>> Learning by demonstration
>> Planning for perception and manipulation
>> Perception of rigid and non-rigid objects
Tech. transfer
Our activity finds applications in several fields through collaboration with our technological partners
Facilities
Research projects
We carry out projects from national and international research programmes.
→ More about our research projects
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Learning by demonstration
We devise methods to learn object-action relations to accomplish tasks at different levels of abstraction, where object models are generated from visual and depth information, and actions, involving manipulation skills, are learned from demonstrations provided by a human using multimodal algorithms that combine vision and haptics.
Planning for perception and manipulation
We are interested in view planning for object modeling, as well as manipulation planning, with special interest in deformable objects. High-level task formulations are integrated with low-level geometry-based methods and simplified physical models, together with an on-line sensory-based treatment of uncertainty, so as to come up with specific sequences of motion commands.
Perception of rigid and non-rigid objects
Our objective is to investigate computer vision algorithms for interpreting and understanding scenes from images, with applications in robotics and medical imaging. In particular, our activities are concentrated on retrieving rigid and non-rigid shape, motion and camera pose from single images and video sequences.
These are the latest research projects of the Perception and Manipulation research line:
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ALLIES: Artificial inteLLigence In sustainable dEvelopment goalS
European Project
Start Date: 01/01/2024
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ARISE: Advanced AI and RobotIcS for autonomous task pErformance
European Project
Start Date: 01/01/2024
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ROMANDIC: RObot MANipulation of Deformables through dynamIC actions
European Project
Start Date: 01/10/2024
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SoftEnable: Towards Soft Fixture-Based Manipulation Primitives Enabling Safe Robotic Manipulation in Hazardous Healthcare and Food Handling Applications
European Project
Start Date: 01/10/2022
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SECUROPS: User-centred Security Framework for Social Robots in Public Space
European Project
Start Date: 01/01/2021
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IPALM: Interactive Perception-Action-Learning for Modelling Objects
European Project
Start Date: 01/10/2019
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IMAGINE: Robots understanding their actions by imagining their effects
European Project
Start Date: 01/01/2017
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I-DRESS: Assistive interactive robotic system for support in dressing
European Project
Start Date: 01/12/2015
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ViSen: Visual Sense, Tagging visual data with semantic descriptions
European Project
Start Date: 01/07/2013
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IntellAct: Intelligent observation and execution of Actions and manipulations
European Project
Start Date: 01/03/2011
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PACOPLUS: Perception, action & cognition through learning of object-action complexes.
European Project
Start Date: 01/02/2006
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PARALIN: Parallel computing modelling for industrial problems
European Project
Start Date: 01/06/1996
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AWESOME: Connecting past, present and future: Acquiring and leveraging prior knowledge to unveil the temporal structure of untrimmed videos
National Project
Start Date: 01/09/2024
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CHLOE-Map: Geometric Coordinates to Navigate the Configuration Space of Cloth-Like Objects for Robotic Manipulation
National Project
Start Date: 01/09/2024
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GRAvatar: Generating Realistic Avatars in unconstrained environments
National Project
Start Date: 01/09/2024
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DEMETER 5.0: Sistema digitalizado para la producción sostenible de algodón hidropónico en invernadero
National Project
Start Date: 01/11/2022
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SMARTGAZE II: Sistema de Movilidad Autónoma y Segura para personas con Baja Visión en entornos urbanos
National Project
Start Date: 01/09/2022
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CHLOE-GRAPH: ClotH-Like ObjEcts Grasping, Representation, and Action Planning
National Project
Start Date: 01/09/2021
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DOVE: Digitalización de organismos vivos en movimiento a partir de vídeos casuales
National Project
Start Date: 29/09/2023
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ROB-IN: Robots para la asistencia continua y personalizada capaces de explicarse a sí mismos
National Project
Start Date: 01/12/2021
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GREAT: Beyond Graph Neural Networks: Joint graph topology learning and graph-based inference for computer vision
National Project
Start Date: 01/06/2020
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HuMoUR: Markerless 3D human motion understanding for adaptive robot behavior
National Project
Start Date: 01/01/2018
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RobInstruct: Instructing robots using natural communication skills
National Project
Start Date: 01/01/2015
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REST: Computación mediante restricciones en robótica y gestión de recursos
National Project
Start Date: 31/12/1999
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REDINTER: Oficina de proyectos europeos e internacionales del IRI
CSIC Project
Start Date: 01/01/2024
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MARE: Manipulación robotizada: Aprendizaje por demostración y Refuerzo
CSIC Project
Start Date: 15/12/2018
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AECEX 2022: Ayuda extraordinaria a Unidad de Excelencia María de Maeztu 2022
CSIC Project
Start Date: 15/03/2022
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AECEX: Ayuda extraordinaria a Unidad de Excelencia María de Maeztu
CSIC Project
Start Date: 24/03/2021
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CONPRERO: NonLinear Predictive Control For Robotic Systems With High Dynamics
CSIC Project
Start Date: 15/01/2021
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R3OBJ: Reconstrucción 3D, localización y segmentación automática de objetos a partir de imágenes
CSIC Project
Start Date: 22/11/2018
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CINNOVA: Modelos cinemáticos y técnicas de aprendizaje para robots de estructura innovadora
CSIC Project
Start Date: 01/07/2011
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MVOD: Medición eficiente de volúmenes de objetos deformables con cámaras rentables
CSIC Project
Start Date: 01/03/2012
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APREN: Modelos perceptivos y técnicas de aprendizaje para robots de servicios
CSIC Project
Start Date: 01/01/2010
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BPnP: Priors para la detección 3D en tiempo real de objetos rígidos y deformables
CSIC Project
Start Date: 01/10/2008
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SGR RobIRI: Grup consolidat de Percepció i Manipulació Robotitzada de l'IRI
Regional Project
Start Date: 01/01/2022
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FRAILWATCH: Sistema de Monitorització Robòtic de la Fragilitat per a Persones Grans
Regional Project
Start Date: 10/11/2023
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LABORA 2023: Consolidació del Laboratori Obert de Robòtica Assistencial
Regional Project
Start Date: 01/01/2023
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PreLabORA: Posada en marxa del Laboratori Obert de Robòtica Assistencial
Regional Project
Start Date: 01/01/2022
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SGR RobIRI: Grup consolidat de Percepció i Manipulació Robotitzada de l'IRI
Regional Project
Start Date: 01/01/2017
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SIMBIOTS: Facilitar una introducció de la robòtica a nous processos i aplicacions dintre de la industria
Regional Project
Start Date: 01/01/2018
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PYERCING: Open your ears: predicting object material from impact sounds
UPC Project
Start Date: 01/07/2020
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MP-CloL: Learning Robotic Cloth Manipulation based on Physics Models and Model Predictive Control
UPC Project
Start Date: 01/07/2020
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SPECTACLE: From Spectators to Actors: Understanding Social Interactions through the Eyes of a Participant
UPC Project
Start Date: 01/10/2019
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MESSI: Camera Self-Calibration for Structure from Motion on Dynamic Scenarios
UPC Project
Start Date: 01/10/2019
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iMOVE: Development of a hybrid control interface based on sEMG and movement signals for an assistive robotic manipulator
UPC Project
Start Date: 01/10/2019
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LatCom: Variable Impedance Control with Movement Primitives in Latent Spaces During Compliant Manipulation
UPC Project
Start Date: 01/01/2019
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LLULL: Librerías de tratamiento de datos, modelado y exploración de procesos industriales
Technology Transfer Contract
Start Date: 03/07/2019
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Text4Pose: Leveraging text to improve human pose, shape, motion estimation and generation
Technology Transfer Contract
Start Date: 15/09/2021
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PIONEER: Projecte Innovador OrieNtat a dissEnyar l’atEnció socIosanitària del futur
Technology Transfer Contract
Start Date: 22/11/2023
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MeFraBotS: Mesura de la fragilitat en robots socials
Technology Transfer Contract
Start Date: 02/11/2023
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DeepRender: Deep Neural Rendering for Cinematography
Technology Transfer Contract
Start Date: 15/02/2022
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DeepSoccer: Deep Learning Technology applied to Soccer Videos
Technology Transfer Contract
Start Date: 20/05/2019
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Amazon ResearchAward: Geometry-aware 3D Human Body Animation from Still Photos
Technology Transfer Contract
Start Date: 14/03/2019
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FACEREC3D: Solucions en reconeixement facial robust a atacs de falsificació utilitzant càmeres TOF
Technology Transfer Contract
Start Date: 25/05/2023
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MAPRICOM: Suport i desenvolupament d'un sistema de manteniment predictiu
Technology Transfer Contract
Start Date: 15/02/2023
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IMPROFIT: Estimació de la posició del cos humà a partir d’imatges de dispositius mòbils
Technology Transfer Contract
Start Date: 01/10/2021
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PADEL: Asesoramiento visión por ordenador para partidos de pádel
Technology Transfer Contract
Start Date: 29/06/2021
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HELIPORTS: Desarrollo de soluciones de visión por computador para la gestión de helipuertos y aeródromos
Technology Transfer Contract
Start Date: 06/05/2021
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APYUR: Asesoramiento para el análisis y ensayo en el desarrollo de un sistema de visión multi-cámara para identificación de personas
Technology Transfer Contract
Start Date: 26/07/2021
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Google ResearchAward: GANimation3D: Unsupervised 3D Face Animation from Monocular Images
Technology Transfer Contract
Start Date: 01/10/2019
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SLD: Proceso automatizado de detección y clasificación inteligente de pieles (smart leather detector)
Technology Transfer Contract
Start Date: 06/03/2018
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AIPICS: Desarrollo de un sistema integral de control de la producción dotado de inteligencia artificial y capacidad de autodecisión
Technology Transfer Contract
Start Date: 01/01/2018
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RELAPP: Aplicació electrònica portàtil controlada per una APP per a la mesura in situ de l’elasticitat de materials visco-elàstics
Technology Transfer Contract
Start Date: 19/10/2020
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SCIACE: Sistema de climatización inteligente auto-adaptativo a las condiciones del entorno
Technology Transfer Contract
Start Date: 15/12/2017
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3T-SLTE: Grupo tractor para elevadores con gestión inteligente de energía integrada
Technology Transfer Contract
Start Date: 11/03/2015
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PERSEO: Paquete escalable robusto soluciones específicas orientadas
Technology Transfer Contract
Start Date: 26/05/2016
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Google Faculty Award: Geometry-aware CNNs for Non-Rigid Shape Reconstruction
Technology Transfer Contract
Start Date: 17/02/2017
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TERMOSOLD: Desarrollo de un sistema basado en técnicas de inteligencia artificial para la inspección de soldaduras en lineas de envasado horizontal
Technology Transfer Contract
Start Date: 10/03/2015
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CRISTALBREAD: Investigació de la capacitat de tecnologíes de robotització intel.ligent per a la manipulació de masses de panificació altament hidratades
Technology Transfer Contract
Start Date: 01/03/2015
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SENECA: Semi-automatic neuron reconstruction in CATMAID
Technology Transfer Contract
Start Date: 01/09/2015
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SITVIA: Sistema de inspección de tampografía por visión artificial adaptable
Technology Transfer Contract
Start Date: 07/09/2015
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AutomaticTV: Algorithms for automatic audiovisual production
Technology Transfer Contract
Start Date: 24/10/2014
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RecycLearn: Desarrollo de tecnología para aprendizaje autónomo de un brazo robótico - Aplicación a plantas de reciclaje.
Technology Transfer Contract
Start Date: 01/09/2013
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ROBOSOFT: Sistema de visió d'ajuda a la conducció per al vehicle NICOLAS-VTCU
Technology Transfer Contract
Start Date: 23/02/2006
These are the most recent publications (2024 - 2023) of the Perception and Manipulation
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A. Civit, A. Andriella, C. Barrue, M. Antonio, C. Boqué and G. Alenyà. Introducing social robots to assess frailty in older adults, 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Boulder, CO, USA, pp. 342–346.
Abstract Info PDF
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R. Pérez, A. Espersen and A. Agudo. Generalized nested latent variable models for lossy coding applied to wind turbine scenarios, 2024 IEEE International Conference on Image Processing, 2024, Abu Dhabi, UAE, pp. 1947-1953.
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G. Tzelepis, A. Eren Erdal, J. Borràs and G. Alenyà. Semantic state estimation in robot cloth manipulations using domain adaptation from human demonstrations, 19th International Conference on Computer Vision Theory and Applications, 2024, Rome (Italy), pp. 172-182.
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O. Barbany, M. Huang, X. Zhu and A. Dhua. Leveraging large language models for multimodal search, 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2024, Seattle (USA), pp. 1201-1210.
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A. Canela, P. Caselles, I. Malik, E. Ramon, J. García, J. Sanchez, G. Triginer and F. Moreno-Noguer. InstantAvatar efficient 3D head reconstruction via surface rendering, 2024 International Conference on 3D Vision, 2024, , pp. 995-1005.
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A. Casanova and A. Agudo. Uncalibrated and unsupervised photometric stereo with piecewise regularizer, 2024 IEEE International Conference on Image Processing, 2024, Abu Dhabi, UAE, pp. 3471-3476.
Abstract Info PDF
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F. Coltraro, J. Amorós, M. Alberich-Carramiñana and C. Torras. A novel collision model for inextensible textiles and its experimental validation. Applied Mathematical Modelling, 128: 287-308, 2024.
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G. Capellera, L. Ferraz, A. Rubio, A. Agudo and F. Moreno-Noguer. FootBots: A transformer-based architecture for motion prediction in soccer, 2024 IEEE International Conference on Image Processing, 2024, Abu Dhabi, UAE, pp. 2313-2319.
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T. Love, A. Andriella and G. Alenyà. Towards explainable proactive robot interactions for groups of people in unstructured environments, 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Boulder, CO, USA, pp. 697–701.
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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, 33rd IEEE International Symposium on Robot and Human Interactive Communication, 2024, Pasadena, California, USA, IEEE, to appear.
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A. Luque, D. Parent, A. Colomé, C. Ocampo-Martínez and C. Torras. Model predictive control for dynamic cloth manipulation: Parameter learning and experimental validation. IEEE Transactions on Control Systems Technology, 32(4): 1254-1270, 2024.
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J. Pareto and M. Coeckelbergh. Social assistive robotics: An ethical and political inquiry through the lens of freedom. International Journal of Social Robotics, 16: 1797–1808, 2024.
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C. Barrue, A. Suárez, M. Inzitari, A. Ribera and G. Alenyà. NYAM: the role of configurable engagement strategies in robotic-assisted feeding, 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Boulder, CO, USA, pp. 228–232.
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J. Pareto and C. Torras. To each technology its own ethics? A reply to Sætra & Danaher (and their critics). Philosophy and Technology, 37: 107, 2024.
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D. Blanco-Mulero, O. Barbany, G. Alcan, A. Colomé, C. Torras and V. Kyrki. Benchmarking the sim-to-real gap in cloth manipulation. IEEE Robotics and Automation Letters, 9(3): 2981-2988, 2024.
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M. Fatan, E. Mincato, D. Pintzou and M. Dimiccoli. 3M-Transformer: A multi-stage multi-stream multimodal transformer for embodied turn-taking prediction, 2024 IEEE International Conference on Acoustics, Speech and Signal Processing, 2024, Seoul, Korea, pp. 8050-8054.
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P. Jiménez. Inside-out states of garments. Technical Report IRI-TR-24-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2024.
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S. Izquierdo, G. Canal, G. Alenyà, C. Rizzo and A. Coles. Planning for human-robot collaboration scenarios with heterogeneous costs and durations, 27th European Conference on Artificial Intelligence, 2024, Santiago de Compostela (Spain), to appear.
Abstract Info
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S. Izquierdo, G. Canal, C. Rizzo and G. Alenyà. PlanCollabNL: leveraging Large Language Models for adaptive plan generation in human-robot collaboration, 2024 IEEE International Conference on Robotics and Automation, 2024, Yokohama (Japan), pp. 17344-17350.
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A. Favata, R. Gallart, R. Pàmies-Vilà, C. Torras and J.M. Font. IMU-based systems for upper-limb kinematic analysis in clinical applications: A systematic review. IEEE Sensors Journal, 24(18): 28576-28594, 2024.
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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, 16: 1167-1187, 2024.
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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, 2024 IEEE International Conference on Robotics and Automation, 2024, Yokohama (Japan), pp. 8298-8304.
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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, 46(2): 1257-1272, 2024.
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C. Torras. Presente y futuro de los robots asistenciales: Desafíos tecnocientíficos y éticos. Real Academia de Ingeniería, 2024.
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M. Dalmasso, J.E. Domínguez, I.J. Torres, P. Jiménez, A. Garrell Zulueta and A. Sanfeliu. Shared task representation for human–robot collaborative navigation: The collaborative search case. International Journal of Social Robotics, 16: 145-171, 2024.
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M. Dalmasso, V. Sanchez-Anguix, A. Garrell Zulueta, P. Jiménez and A. Sanfeliu. Exploring Preferences in Human-Robot Navigation Plan Proposal Representation, 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024, Boulder, CO, USA, pp. 369-373.
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O. Barbany, X. Lin, M. Bastan and A. Dhua. Procsim: Proxy-based confidence for robust similarity learning, 2024 IEEE Winter Conference on Applications of Computer Vision, 2024, Waikoloa, Hawaii, pp. 1297-1306.
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M. Gutiérrez and A. Agudo. No bells, just whistles: sports field registration by leveraging geometric properties, 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW). Workshop on Computer Vision in Sports, 2024, Seattle (USA), pp. 3325-3334.
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C. Torras. Ethics of social robotics: Individual and societal concerns and opportunities. Annual Review of Control, Robotics, and Autonomous Systems, 7(1): 1-18, 2024.
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F. Stulp, A. Colomé and C. Torras. Fitting parameters of linear dynamical systems to regularize forcing terms in Dynamical Movement Primitives, 2024 IEEE International Conference on Robotics and Automation, 2024, Yokohama (Japan), pp. 15024-15030, to appear.
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A. Berresheim and A. Agudo. Photovoltaic power forecasting using sky images and sun motion, 2024 IEEE International Conference on Acoustics, Speech and Signal Processing, 2024, Seoul, Korea, pp. 4260-4264.
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T. Love, A. Andriella and G. Alenyà. What would I do if? Promoting understanding in HRI through real-time explanations in the wild, 33rd IEEE International Symposium on Robot and Human Interactive Communication, 2024, Pasadena, California, USA, IEEE, to appear.
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A. Agudo. Detail-aware uncalibrated photometric stereo, 2023 IEEE International Conference on Acoustics, Speech and Signal Processing, 2023, Rhodes Island, Greece, pp. 1-5.
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M. Pérez and A. Agudo. Robust multimodal and multi-object tracking for autonomous driving applications, 2023 International Conference on Advanced Robotics, 2023, Abu Dhabi, UAE, pp. 100-106, IEEE.
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M. Bellver, C. Ventura, C. Silberer, I. Kazakos, J. Torres and X. Giro-i-Nieto. A closer look at referring expressions for video object segmentation. Multimedia Tools and Applications, 82: 4419-4438, 2023.
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D.F. Ordoñez, M. Martin, A. Agudo and F. Moreno-Noguer. On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis, 2023 Robotics: Science and Systems Conference, 2023, Daegu, Republic of Korea.
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E. Caldarelli, A. Colomé, C. Ocampo-Martínez and C. Torras. Quadratic dynamic matrix control for fast cloth manipulation, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023, Detroit, MI, USA, pp. 8178-8185.
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M. Alberich-Carramiñana, J. Guàrdia, E. Nart and J. Roé. Valuative trees over valued fields. Journal of Algebra, 614: 71-114, 2023.
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F. Coltraro, J. Fontana, J. Amorós, M. Alberich-Carramiñana, J. Borràs and C. Torras. A representation of cloth states based on a derivative of the Gauss Linking Integral. Applied Mathematics and Computation, 457: 128165, 2023.
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R. Ren, M. Gurnani Rajesh, J. Sanchez, A. López, F. Zhang, Y. Tian, G. Alenyà, A. Agudo, Y. Demiris, K. Mikolajczyk and F. Moreno-Noguer. Grasp-oriented fine-grained cloth segmentation without real supervision, 2023 6th International Conference on Machine Vision and Applications, 2023, Singapore, pp. 147-153.
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B.M. Lopes, R. Marques , D. Faustino, P. Ilheu, T. Santos , J. Sousa and A.D. Rocha. Enhance the injection molding quality prediction with artificial intelligence to reach zero-defect manufacturing. Processes, 11(1): 62, 2023.
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A. Olivares-Alarcos, A. Andriella, S. Foix and G. Alenyà. Robot explanatory narratives of collaborative and adaptive experiences, 2023 IEEE International Conference on Robotics and Automation, 2023, London (UK), pp. 11964-11971.
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E. Caldarelli, A. Chatalic, A. Colomé, L. Rosasco and C. Torras. Heteroscedastic Gaussian processes and random features: scalable motion primitives with guarantees, 2023 Conference on Robot Learning, 2023, Atlanta, GA, USA, pp. 3010-3029, PMLR.
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E. Barbecho-Jimbo, D. Vallejo-Ramírez, J. Cobos-Torres, C. Angulo and C. Flores-Vázquez. Remote operation of CeCi social robot . Robotics, 12(1): 19, 2023.
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F. Coltraro, J. Amorós, M. Alberich-Carramiñana and C. Torras. Reconstruction of sampled surfaces with boundary via Morse theory, 2023 Congreso Español de Informática Gráfica, 2023, Mallorca, pp. 21-24.
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A. Dhamanaskar, M. Dimiccoli, E. Corona, A. Pumarola and F. Moreno-Noguer. Enhancing egocentric 3D pose estimation with third person views . Pattern Recognition, 138(109358), 2023.
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D.F. Ordoñez, M. Martin, A. Agudo and F. Moreno-Noguer. Morphological symmetries in robot learning, 2023 RSS Workshop on Symmetries in Robot Learning, 2023, Daegu (South Korea), pp. 1-5.
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E.B. Bueno Benito, B. Tura and M. Dimiccoli. Leveraging triplet loss for unsupervised action segmentation, 2023 CVPR Workshop on Learning with Limited Labelled Data, 2023, Vancouver, Canadá, pp. 4922-4930, IEEE.
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A. Suárez, A. Andriella, C. Torras and G. Alenyà. User interactions and negative examples to improve the learning of semantic rules in a cognitive exercise scenario, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023, Detroit, MI, USA, pp. 7953-7960.
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P. Caselles, E. Ramon, J. Garcia, X. Giro-i-Nieto, F. Moreno-Noguer and G. Triginer. SIRA: Relightable Avatars from a Single Image, 2023 IEEE Winter Conference on Applications of Computer Vision, 2023, Waikoloa, Hawaii, pp. 775-784.
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A. Urdapilleta and A. Agudo. Comparative study of feature localization methods for endoscopy image matching, 2023 IEEE International Conference on Image Processing Challenges and Workshops, 2023, Kuala Lumpur, Malaysia, pp. 3719-3723, IEEE.
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G.D. Delmas, P. Weinzaepfel, F. Moreno-Noguer and G. Rogez. PoseFix: correcting 3D human poses with natural language, 2023 International Conference on Computer Vision, 2023, Paris, France, pp. 14972-14982.
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C. Angulo, A. Chacón and P. Ponsa. Towards a cognitive assistant supporting human operators in the Artificial Intelligence of Things. Internet of Things, 21: 100673, 2023.
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C. Torras. Robótica asistencial. Retos éticos en la ayuda y acompañamiento a cuidadores y pacientes. In Soledad no deseada en la era digital, 38-46. Fundació Víctor Grífols i Lucas, 2023.
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G. Tzelepis, J. Borràs, A. Eren Erdal and G. Alenyà. Semantic state prediction in robotic cloth manipulation, 2023 Intelligent Systems Conference, 2023, Amsterdam, pp. 205-219, Springer Lecture Notes in Networks and Systems.
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A. Sabir, F. Moreno-Noguer and L. Padró. Visual semantic relatedness dataset for image captioning, 2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2023, Vancouver, Canada, pp. 5598-5606.
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S. Forgas, R. Huertas, A. Andriella and G. Alenyà. Gendered human–robot interactions in services. International Journal of Social Robotics, 15(11): 1791-1807, 2023.
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E. Thomaz and M. Dimiccoli. Acquisition and analysis of camera sensor data (Lifelogging). In Mobile Sensing in Psychology. Methods and Applications, 277-296. Guilford Publications, 2023.
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F. Rivas-Manzaneque, J. Sierra-Acosta, A. Penate-Sanchez, F. Moreno-Noguer and A. Ribeiro. NeRFLight: Fast and light neural radiance fields using a shared feature grid, 2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2023, Vancouver, Canada, pp. 12417-12427.
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E. Pignaton, J. Olszewska, J.L. Carbonera, S. Fiorini, A. Khamis, V.R. Kumar, M. Barreto, E. Prestes, M.K. Habib, S. Redfield, A. Chibani, P. Goncalves, J. Bermejo-Alonso, R. Sanz, E. Tosello, A. Olivares-Alarcos, A.A. Konzen, J. Quintas and H. Li. Ontological concepts for information sharing in cloud robotics. Journal of Ambient Intelligence and Humanized Computing, 14: 4921–4932, 2023.
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C. Torras and L.G. Ludescher. Writing science fiction as an inspiration for AI research and ethics dissemination. In Human-Centered Artificial Intelligence: Advanced Lectures, 322-344. Cham: Springer International Publishing, 2023.
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C. Torras. Robòtica assistencial: una aposta per l'envelliment saludable i sostenible. In Bioética: una mirada cap al futur, 216-225. Fundació Víctor Grífols i Lucas, 2023.
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W. Guo, Y. Du, X. Shen, V. Lepetit, X. Alameda and F. Moreno-Noguer. Back to MLP: A simple baseline for human motion prediction, 2023 IEEE Winter Conference on Applications of Computer Vision, 2023, Waikoloa, Hawaii, pp. 4798-4808.
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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, 33: 441-496, 2023.
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A. Olivares-Alarcos, S. Foix and G. Alenyà. Time to contact for robot safety stop in close collaborative tasks. In Human-robot collaboration: unlocking the potential for industrial applications, 87-104. Institution of Engineering Technology, 2023.
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C. Torras. Desplegament ètic de la robòtica assistencial per a un envelliment saludable i sostenible. In La medicina al segle xxi, avenços i límits, 35-44. Universitat d'Estiu i Tardor d'Andorra, Govern d'Andorra, 2023.
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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, 33: 333-357, 2023.
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R. Pérez, A. Espersen and A. Agudo. Robust wind turbine blade segmentation from RGB images in the wild, 2023 IEEE International Conference on Image Processing, 2023, Kuala Lumpur, Malaysia, pp. 1025-1029.
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C. Torras. Eduquem les criatures... també les artificials!. Serra d'Or, 760: 28-29, 2023.
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M. Arduengo, A. Colomé, J. Lobo, L. Sentis and C. Torras. Gaussian-process-based learning from demonstration. Journal of Ambient Intelligence and Humanized Computing, 2023, to appear.
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A. San-Miguel, V. Puig and G. Alenyà. Condition-based design of variable impedance controllers from user demonstrations. Control Engineering Practice, 140: 105658, 2023.
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C. Torras. Humans i robots: ¿qui modela qui?. El Món d'Ahir, 26: 134-143, 2023.
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S. Forgas, R. Huertas, A. Andriella and G. Alenyà. Social robot-delivered customer-facing services: an assessment of the experience. The Service Industries Journal, 43(3): 154-184, 2023.
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S. Izquierdo, G. Alenyà and C. Rizzo. Adaptive Human-Robot Collaboration: evolutionary learning of action costs using an action outcome simulator, 32nd IEEE International Symposium on Robot and Human Interactive Communication, 2023, Busan, Korea, pp. 1901-1907.
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L.M. Lach, N. Funk, R. Haschke, S. Lemaignan, H. Ritter, J. Peters and G. Chalvatzaki. Placing by touching: An empirical study on the importance of tactile sensing for precise object placing, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023, Detroit, MI, USA, pp. 8964-8971.
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F. Amadio, J.A. Delgado-Guerrero, A. Colomé and C. Torras. Controlled Gaussian process dynamical models with application to robotic cloth manipulation. International Journal of Dynamics and Control , 11: 3209-3219, 2023.
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R. Cupec, I. Vidovic, V. Simundic, P. Pejic, S. Foix and G. Alenyà. Teaching a robot where doors and drawers are and how to handle them, 32nd IEEE International Symposium on Robot and Human Interactive Communication, 2023, Busan, Korea, pp. 2288-2294.
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L.M. Lach, N. Funk, R. Haschke, H. Ritter, J. Peters and G. Chalvatzaki. Tactile sensing for stable object placing, 2023 Workshop on Touch Processing: a new Sensing Modality for AI at NeurIPS 2023 , 2023, New Orleans (LA), USA, pp. 1-10.
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J. Borràs, A. Boix, S. Foix and C. Torras. A virtual reality framework for fast dataset creation applied to cloth manipulation with automatic semantic labelling, 2023 IEEE International Conference on Robotics and Automation, 2023, London (UK), pp. 11605-11611.
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M. Pérez and A. Agudo. Sensor-agnostic multimodal fusion for multiple object tracking from camera, radar, lidar and V2X, 2023 FISITA 2023 World Congress, 2023, Barcelona.
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L.M. Lach, R. Haschke, D. Tateo, J. Peters, H. Ritter, J. Borràs and C. Torras. Towards transferring tactile-based continuous force control policies from simulation to robot, 2023 Workshop on Touch Processing: a new Sensing Modality for AI at NeurIPS 2023 , 2023, New Orleans (LA), USA, pp. 10.
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Perception and Manipulation Laboratory
The Perception and Manipulation Laboratory is the main facility devoted to experimentation on the topics of the research line. It occupies 142 m² in the second floor of the Faculty, and a large part hosts a life-scale mock-up of a (quite) small apartment (35 m²). Two PAL one-armed mobile TIAGo robots dwell within the apartment, but are occasionally taken out for experimentation elsewhere. There is also a manipulation area equipped with two WAM robot arms and a KINOVA manipulator, and workplaces are distributed along the perimeter. Next to the laboratory, with a direct view through a window, there is the Scientific and Technical Lab support office.
The Laboratory is further equipped with commercial and self-developed grippers, sensing devices, and augmented reality appliances. Laboratory service offers quick experimental setup, several standardized software tools, and expertise in robot control and perception algorithms. It also hosted the Humanoids Lab Initiative in the past, and we still keep 15 small humanoid robots for educational or promotional purposes.
Researchers
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Agudo Martínez, Antonio
aagudo (at) iri.upc.edu
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Alberich Carramiñana, Maria
alberich (at) iri.upc.edu
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Alenyà Ribas, Guillem
galenya (at) iri.upc.edu
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Andriella, Antonio
aandriella (at) iri.upc.edu
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Angulo Bahon, Cecilio
cangulo (at) iri.upc.edu
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Aryania, Azra
aaryania (at) iri.upc.edu
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Barrue Subirana, Cristian
cbarrue (at) iri.upc.edu
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Blanco Mulero, David
dblancom (at) iri.upc.edu
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Borràs Sol, Júlia
jborras (at) iri.upc.edu
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Colomé Figueras, Adrià
acolome (at) iri.upc.edu
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Coltraro, Franco
fcoltraro (at) iri.upc.edu
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Dimiccoli, Mariella
mdimiccoli (at) iri.upc.edu
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Foix Salmerón, Sergi
sfoix (at) iri.upc.edu
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Grosch Obregon, Patrick John
pgrosch (at) iri.upc.edu
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Jiménez Schlegl, Pablo
jimenez (at) iri.upc.edu
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Pareto Boada, Júlia
jpareto (at) iri.upc.edu
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Sanchez Riera, Jordi
jsanchez (at) iri.upc.edu
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Torras Genís, Carme
torras (at) iri.upc.edu
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Vallès Peris, Nuria
nvalles (at) iri.upc.edu
PhD Students
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Barbany Mayor, Oriol
obarbany (at) iri.upc.edu
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Budria Fernández, Alvaro Francesc
abudria (at) iri.upc.edu
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Bueno Benito, Elena Belén
ebueno (at) iri.upc.edu
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Caldarelli, Edoardo
ecaldarelli (at) iri.upc.edu
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Canela Jiménez, Antonio
acanela (at) iri.upc.edu
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Capellera Font, Guillem
gcapellera (at) iri.upc.edu
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Caselles Rico, Pol
pcaselles (at) iri.upc.edu
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Civit Bertran, Aniol
acivit (at) iri.upc.edu
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Delgado Guerrero, Juan Antonio
jdelgado (at) iri.upc.edu
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Delmas, Ginger Diana
gdelmas (at) iri.upc.edu
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Gallart Agut, Roger
rgallart (at) iri.upc.edu
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Garcia Camacho, Irene
igarcia (at) iri.upc.edu
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Guda, Harsha Vardhan
hguda (at) iri.upc.edu
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Gutiérrez Pérez, Marc
mgutierrez (at) iri.upc.edu
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Huerfano Zapata, Benjamin Andres
bhuerfano (at) iri.upc.edu
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Izquierdo Badiola, Silvia
sizquierdo (at) iri.upc.edu
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Kamat, Jay Prabodh
jkamat (at) iri.upc.edu
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Lopes E Silva, Bruno Miguel
blopes (at) iri.upc.edu
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Love, Tamlin
tlove (at) iri.upc.edu
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Malik Ara, Ibrar
imalik (at) iri.upc.edu
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Olivares Alarcos, Alberto
aolivares (at) iri.upc.edu
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Peral Sánchez, Marc
mperal (at) iri.upc.edu
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Pérez i Gonzalo, Raül
rperez (at) iri.upc.edu
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Pérez Quintana, Marc
mperez (at) iri.upc.edu
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Thakur, Sanket Kumar
sthakur (at) iri.upc.edu
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Tzelepis, Georgios
gtzelepis (at) iri.upc.edu
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Ugrinovic, Nicolás
nugrinovic (at) iri.upc.edu
Master Students
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Aparicio Garcia, Maria Lucia
maparicio (at) iri.upc.edu
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Blázquez González, Xabier
xblazquez (at) iri.upc.edu
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Costa Santamaria, Adrià
acostas (at) iri.upc.edu
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Domènech Olivé, Anna
adomenech (at) iri.upc.edu
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Guzmán Castellana, Manel
mguzman (at) iri.upc.edu
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Jiménez Farfan, Carlos Humberto
cjimenezf (at) iri.upc.edu
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Martínez Fernández, Antonio
amartinezf (at) iri.upc.edu
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Montoya de Paco, Sergio
smontoya (at) iri.upc.edu
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Morales, Joseph
jmorales (at) iri.upc.edu
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Omedes De Ribot, Joan
jomedes (at) iri.upc.edu
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Perez Sabater, Marc
mpsabater (at) iri.upc.edu
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Raza, Syed Riaz
sraza (at) iri.upc.edu
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Valero Martinez, Rosana
rvalero (at) iri.upc.edu
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Wallgren, Carl Ian
cwallgren (at) iri.upc.edu
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Zivkovic, Grgur
gzivkovic (at) iri.upc.edu
TFG Students
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Arribalzaga Jové, Carlos
carribalzaga (at) iri.upc.edu
Support Staff
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González Valdivia, Guillem
ggonzalez (at) iri.upc.edu
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Lach, Luca Michael
llach (at) iri.upc.edu
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Oriol Lladó, Jaume
joriol (at) iri.upc.edu
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Patero, Michele
mpatero (at) iri.upc.edu
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Salido Luis-Ravelo, Pablo
psalido (at) iri.upc.edu
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