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.
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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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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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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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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CHLOE-GRAPH: ClotH-Like ObjEcts Grasping, Representation, and Action Planning
National Project
Start Date: 01/09/2021
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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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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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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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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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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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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 (2023 - 2022) of the Perception and Manipulation
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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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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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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 , 2023, to appear.
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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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A. Agudo. Detail-aware uncalibrated photometric stereo, 2023 IEEE International Conference on Acoustics, Speech and Signal Processing, 2023, Rhodes Island, Greece, to appear.
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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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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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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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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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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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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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S. Forgas, R. Huertas, A. Andriella and G. Alenyà. Gendered human–robot interactions in services. International Journal of Social Robotics, 2023, to appear.
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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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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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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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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, 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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A. Olivares-Alarcos, S. Foix, S. Borgo and G. Alenyà. OCRA – An ontology for collaborative robotics and adaptation. Computers in Industry, 132: 103627, 2022.
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A. Agudo. Spline human motion recovery, 2022 IEEE International Conference on Image Processing, 2022, Bordeaux, France, pp. 4138-4142, IEEE.
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C. Torras. Cervells artificials: ciència o ficció?. In Cervell(s), 48-55. Centre de Cultura Contemporània de Barcelona (CCCB), 2022.
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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, 7(3): 5866-5873, 2022.
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C. Torras and L. Delicado. Blanco y frío como el Polo Norte y el Polo Sur: Seres humanos y robots. Sociology and Technoscience, 12(1): 257-275, 2022.
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G.D. Delmas, P. Weinzaepfel, T. Lucas, F. Moreno-Noguer and G. Rogez. PoseScript: 3D human poses from natural language, 17th European Conference on Computer Vision, 2022, Tel Aviv (Israel), in Computer Vision – ECCV 2022 , Vol 13666 of Lecture Notes in Computer Science, pp. 346-362, 2022.
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S. Izquierdo, G. Canal, C. Rizzo and G. Alenyà. Improved task planning through failure anticipation in human-robot collaboration, 2022 IEEE International Conference on Robotics and Automation, 2022, Philadelphia, Pennsylvania, USA, pp. 7875-7880.
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E. Caldarelli, A. Colomé and C. Torras. Perturbation-Based stiffness inference in variable impedance control. IEEE Robotics and Automation Letters, 7(4): 8823-8830, 2022.
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C. Torras. La ciencia ficción como estímulo del debate ético en robótica. In Robótica, ética y política. El impacto de la superinteligencia en el mundo de las personas, 139-167. Icaria Editorial, 2022.
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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, 7(3): 5874-5881, 2022, to appear.
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M. Dimiccoli, S. Patni, M. Hoffmann and F. Moreno-Noguer. Recognizing object surface material from impact sounds for robot manipulation, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022, Kyoto, pp. 9280-9287.
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A. Alvarez, L. Arroyo, R. Avila, E. Crusellas, M. de la Fuente, L. Martínez, M. Mata, T. Ruiz, M. Ruiz and C. Torras. Les dades obertes i la intel·ligència artificial, eines per a la igualtat de gènere. Volume 7 of Govern Obert. Generalitat de Catalunya, 2022.
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J. Orti, F. Moreno-Noguer and V. Puig. Guided-crop image augmentation for small defect classification, 26th International Conference on Pattern Recognition, 2022, Montreal, Canada, pp. 104-110.
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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, 31st IEEE International Symposium on Robot and Human Interactive Communication, 2022, Napoli, Italy, pp. 477-482.
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F. Belchí and A. Stefanou. A∞ Persistent Homology Estimates Detailed Topology from Pointcloud Datasets. Discrete & Computational Geometry, 68: 274-297, 2022.
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J. Borràs. Effective grasping enables successful robot-assisted dressing. Science robotics, 7(65): eabo7229, 2022.
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J. Pareto. Social assistive robotics: An ethical approach through the concept of freedom, 2022 Philosophy of Human-Technology Relations, 2022, Copenhagen, pp. 53.
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A. Suárez, A. Andriella, G. Alenyà and C. Torras. Proactive learning of cognitive exercises with a social robot, 2022 ICRA Workshop on Prediction and Anticipation Reasoning in Human Robot Interaction (PAR-HRI), 2022, Philadelphia, USA, pp. 1-4.
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D.F. Ordoñez, A. Agudo, F. Moreno-Noguer and M. Martin. An adaptable approach to learn realistic legged locomotion without examples, 2022 IEEE International Conference on Robotics and Automation, 2022, Philadelphia, Pennsylvania, USA, pp. 4671-4678.
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J. Pareto. Robótica social asistencial. Implicaciones y desafíos éticos. Brains. Business, Research, Ageing, Innovation, Neurosciences , 2(2): 39-43, 2022.
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E. Corona, G. Pons-Moll, G. Alenyà and F. Moreno-Noguer. Learned Vertex Descent: a new direction for 3D human model fitting, 17th European Conference on Computer Vision, 2022, Tel Aviv (Israel), in Computer Vision – ECCV 2022 , Vol 13666 of Lecture Notes in Computer Science, pp. 146--165, 2022.
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A. Agudo. Unsupervised 3D reconstruction and grouping of rigid and non-rigid categories. IEEE Transactions on Pattern Analysis and Machine Intelligence, 44(1): 519-532, 2022.
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C. Xu, A. Colomé, L. Sentis and C. Torras. Mixtures of controlled Gaussian processes for dynamical modeling of deformable objects, 2022 Learning for Dynamics & Control Conference, 2022, Stanford, CA, USA, pp. 415-426.
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B.M. Lopes, R. Marques , T. Santos , J. Sousa and G. Alenyà. Relevant parameters identification in traditional & stretch and blow thermoplastics injection molding, 10th IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, 2022, Chemnitz, Germany , pp. 1-6, IEEE.
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S. Izquierdo, C. Rizzo and G. Alenyà. Planning interactions as an event handling solution for successful and balanced human-robot collaboration, 2022 IROS Workshop on Artificial Intelligence for Social Robots Interacting with Humans in the Real World, 2022, Kyoto, Japan, 2022.
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F. Coltraro, J. Amorós, M. Alberich-Carramiñana and C. Torras. An inextensible model for the robotic manipulation of textiles. Applied Mathematical Modelling, 101: 832-858, 2022.
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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, 16: 359–389, 2022.
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E. Canas, A.M. Garcia, C. Angulo and A. Garrell Zulueta. Initial test of “BabyRobot” behaviour on a teleoperated toy substitution: Improving the motor skills of toddlers, 2022 ACM/IEEE International Conference on Human-Robot Interaction, 2022, Sapporo, Japan, pp. 708-712.
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L. González, C. Angulo, J.A. Ortega and J.L. López. Statistical validation of synthetic data for lung cancer patients generated by using generative adversarial networks. Electronics, 11(20): 3277, 2022.
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A. Agudo, V. Lepetit and F. Moreno-Noguer. Simultaneous completion and spatiotemporal grouping of corrupted motion tracks. The Visual Computer, 38(11): 3937–3952, 2022.
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J. Laplaza, A. Garrell Zulueta, F. Moreno-Noguer and A. Sanfeliu. Context and intention for 3D human motion prediction: Experimentation and user study in handover tasks, 31st IEEE International Symposium on Robot and Human Interactive Communication, 2022, Napoli, Italy, pp. 630-635.
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M. Peral, A. Sanfeliu and A. Garrell Zulueta. Efficient hand gesture recognition for human-robot interaction. IEEE Robotics and Automation Letters, 7(4): 10272-10279, 2022.
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F. Strazzeri and Rubén J. Sánchez-García. Possibility results for graph clustering: A novel consistency axiom. Pattern Recognition, 128: 108687, 2022.
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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, 14: 973–994, 2022.
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P. Estevez and A. Agudo. Uncalibrated, unified and unsupervised specular-aware photometric stereo, 2022 ICPR Workshop on Towards a Complete Analysis of People: From Face and Body to Clothes, 2022, Montreal (Canada), pp. 7-20.
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A. Boix, S. Foix and C. Torras. Garment manipulation dataset for robot learning by demonstration through a virtual reality framework, 24th Catalan Conference on Artificial Intelligence, 2022, Sitges, in Artificial Intelligence Research and Development, Vol 356 of Frontiers in Artificial Intelligence and Applications, pp. 199-208, IOS Press.
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J. Shen, A. Agudo, F. Moreno-Noguer and A. Ruiz. Conditional-Flow NeRF: Accurate 3D modelling with reliable uncertainty quantification, 17th European Conference on Computer Vision, 2022, Tel Aviv (Israel), in Computer Vision – ECCV 2022 , Vol 13666 of Lecture Notes in Computer Science, pp. 540-557, 2022.
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X. Xu, H. Chen, F. Moreno-Noguer, L. Jeni and F. De la Torre. 3D human pose, shape and texture from low-resolution images and videos. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2022.
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I. Garcia-Camacho, J. Borràs and G. Alenyà. Knowledge representation to enable high-level planning in cloth manipulation tasks, 2022 ICAPS Workshop on Knowledge Engineering for Planning and Scheduling, 2022, Singapore (Virtual), pp. 9.
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A. Andriella, R. Huertas, S. Forgas, C. Torras and G. Alenyà. “I know how you feel” The importance of interaction style on users’ acceptance in an entertainment scenario. Interaction Studies: Social Behaviour and Communication in Biological and Artificial Systems, 23(1): 21-57, 2022.
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F.J. Moreno, V.J. Traver, F. Barranco, M. Dimiccoli and F. Pla. Visual event-based egocentric human action recognition, 2022 Iberian Conference on Pattern Recognition and Image Analysis, 2022, Aveiro, Portugal, Vol 13256 of Lecture Notes in Computer Science, pp. 402-404, 2022.
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A. Pérez and A. Agudo. Matching and recovering 3D people from multiple views, 2022 IEEE Winter Conference on Applications of Computer Vision, 2022, Waikoloa, Hawaii, USA, pp. 1184-1193, IEEE.
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I. Garcia-Camacho, J. Borràs, B. Calli, A. Norton and G. Alenyà. Cloth manipulation and perception competition, 2022 ICRA Workshop on Representing and Manipulating Deformable Objects, 2022, Philadelphia, pp. 4.
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N. Ugrinovic, A. Pumarola, A. Sanfeliu and F. Moreno-Noguer. Single-view 3d body and cloth reconstruction under complex poses, 17th International Conference on Computer Vision Theory and Applications, 2022, Online.
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P. Jiménez. History of the Institut de Robòtica i Informàtica Industrial, 2022.
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A. Agudo. Safari from visual signals: Recovering volumetric 3D shapes, 2022 IEEE International Conference on Acoustics, Speech and Signal Processing, 2022, Singapore, pp. 2495-2499.
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M. Alberich-Carramiñana, J. Amorós, F. Coltraro, C. Torras and M. Verdaguer. Morse cell decomposition and parametrization of surfaces from point clouds, 2022 Encuentros de Álgebra Computacional y Aplicaciones, 2022, Castellón, Spain, to appear.
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A. Colomé and C. Torras. Ordinal inverse reinforcement learning applied to robot learning with small data, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022, Kyoto, pp. 2490-2496.
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P. Jiménez. Learning in autonomous and intelligent systems: Overview and biases from data sources. Arbor - Ciencia, Pensamiento y Cultura, 197(802): a627, 2022.
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F. Coltraro, J. Amorós, M. Alberich-Carramiñana and C. Torras. An inextensible model for the robotic manipulation of textiles, 2022 Congreso de ecuaciones diferenciales y aplicaciones XXVII, 2022, Zaragoza, Spain, pp. 87-87.
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A. Colomé and C. Torras. Mutual information weighing for probabilistic movement primitives, 24th Catalan Conference on Artificial Intelligence, 2022, Sitges, in Artificial Intelligence Research and Development, Vol 356 of Frontiers in Artificial Intelligence and Applications, pp. 365-368, IOS Press.
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W. Zhang, M. Dimiccoli and B.Y. Lim. Debiased-CAM to mitigate image perturbations with faithful visual explanations of machine learning , 2022 ACM Conference on Human Factors in Computing Systems, 2022, New Orleans, pp. 1-32, ACM.
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J. Pareto, B. Román and C. Torras. Ethics for social robotics: A critical analysis, 2022 The Road to a Successful HRI: AI, Trust and ethicS Workshop, in the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2022), 2022, Sapporo, Japan, pp. 1-3.
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A. Andriella, C. Torras and G. Alenyà. Implications of robot backchannelling in cognitive therapy, 14th International Conference on Social Robotics, 2022, Florence, Italy, Vol 13817 of Lecture Notes in Computer Science, pp. 546–557.
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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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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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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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Moreno Noguer, Francesc
fmoreno (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
PhD Students
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Barbany Mayor, Oriol
obarbany (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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Caselles Rico, Pol
pcaselles (at) iri.upc.edu
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Civit Bertran, Aniol
acivit (at) iri.upc.edu
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Delmas, Ginger Diana
gdelmas (at) iri.upc.edu
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Fiche, Guénolé
fguenole (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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Gutiérrez Pérez, Marc
mgutierrez (at) iri.upc.edu
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Izquierdo Badiola, Silvia
sizquierdo (at) iri.upc.edu
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Kermenov, Renat
rkermenov (at) iri.upc.edu
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Lach, Luca Michael
llach (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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Pareto Boada, Júlia
jpareto (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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Roldán Sánchez, Francisco
froldan (at) iri.upc.edu
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Shen, Jianxiong
jshen (at) iri.upc.edu
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Suárez Hernández, Alejandro
asuarez (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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Amama Ben Hassun, Nora
namama (at) iri.upc.edu
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Capellera Font, Guillem
gcapellera (at) iri.upc.edu
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Costa Gabaldón, Guillem
gcosta (at) iri.upc.edu
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Gastón Codony, Fernando
fgaston (at) iri.upc.edu
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Gonzalez Gudiño, Luis
lgudino (at) iri.upc.edu
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Hidalgo Valdez, Humberto Andrés
hhidalgo (at) iri.upc.edu
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López Larios, Paloma
plopez (at) iri.upc.edu
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Magro, Riccardo
rmagro (at) iri.upc.edu
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Montoya de Paco, Sergio
smontoya (at) iri.upc.edu
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Oriol Lladó, Jaume
joriol (at) iri.upc.edu
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Palacios Fidalgo, Leonardo
lpalacios (at) iri.upc.edu
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Pla Casamitjana, Berta
bpla (at) iri.upc.edu
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Tapia Palacio, Guillem
gtapia (at) iri.upc.edu
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Tempelaar Sanchez, Alexander
atempelaar (at) iri.upc.edu
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Vidal Bazan, Sergi
svidal (at) iri.upc.edu
TFG Students
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Gómez López, Roger
rgomez (at) iri.upc.edu
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Torrecillas Castelló, Marc
mtorrecillas (at) iri.upc.edu
Support Staff
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Ariosa Hernández, Roberto
rariosa (at) iri.upc.edu
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Budria Fernández, Alvaro Francesc
abudria (at) iri.upc.edu
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Mincato, Emanuele
emincato (at) iri.upc.edu
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Salido Luis-Ravelo, Pablo
psalido (at) iri.upc.edu
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