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Perception and Manipulation

Perception and Manipulation Image

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.
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Head of line: Carme Torras Genís

Head of line

Tech. transfer

Our activity finds applications in several fields through collaboration with our technological partners

Research projects

We carry out projects from national and international research programmes.
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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.

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Research area 1 of Perception and Manipulation

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.

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Research area 2 of Perception and Manipulation

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.

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Research area 3 of Perception and Manipulation

These are the latest research projects of the Perception and Manipulation research line:

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    Technology Transfer Contract

    Start Date: 24/10/2003

These are the most recent publications (2025 - 2024) of the Perception and Manipulation

  • D.F. Ordoñez, G. Turrisi, V. Kostic, M. Martin, A. Agudo, F. Moreno-Noguer, M. Pontil, C. Semini and C. Mastalli. Morphological symmetries in robotics. International Journal of Robotics Research : 1-24, 2025, to appear.

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  • R. Kermenov, S. Foix, J. Borràs, V. Castorani, S. Longhi and A. Bonci. Automating the hand layup process: On the removal of protective films with collaborative robots. Robotics and Computer-Integrated Manufacturing, 93: 102899, 2025, to appear.

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  • F. Coltraro, J. Borràs, M. Alberich-Carramiñana and C. Torras. Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning. International Journal of Robotics Research , 2025, to appear.

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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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  • N. Ugrinovic, A. Ruiz, A. Agudo, A. Sanfeliu and F. Moreno-Noguer. PIRO: Permutation-invariant relational network for multi-person 3D pose estimation, 19th International Conference on Computer Vision Theory and Applications, 2024, Rome (Italy), pp. 295-305.

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  • S. Montoya and A. Agudo. 4DPV: 4D pet from videos by coarse-to-fine non-rigid radiance fields, 17th Asian Conference on Computer Vision, 2024, Hanoi, in Computer Vision – ACCV 2024, Vol 15472 of Lecture Notes in Computer Science, pp. 141–157, 2024.

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  • G.D. Delmas, P. Weinzaepfel, F. Moreno-Noguer and G. Rogez. PoseEmbroider: towards a 3D, visual, semantic-aware human pose representation, 18th European Conference on Computer Vision, 2024, Milano, Italy, in Computer Vision – ECCV 2024, Vol 15110 of Lecture Notes in Computer Science, pp. 55-73, 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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  • M. Pérez, A. Agudo, G. Dubbelman and P. Jancura. Class prototypical loss for enhanced feature separation in 3D object detection, 2024 IEEE Intelligent Transportation Systems Conference, 2024, Edmonton, Canada, to appear.

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  • E. Hannus, T. Nguyen Le, D. Blanco-Mulero and V. Kyrki. Dynamic manipulation of deformable objects using imitation learning with adaptation to hardware constraints, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024, Abu Dhabi, UAE, pp. 12655-12662.

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  • M. Alberich-Carramiñana, J. Guàrdia, E. Nart and J. Roé. Valuations with an infinite limit-depth. Communications in Algebra, 52(1): 359-370, 2024.

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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. 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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  • G. González, A. Martínez, V. Martínez, S. Foix and G. Alenyà. Fast ready-to-harvest cotton detection and classification with YOLOv8 in greenhouse crops, 7th Iberian Robotics Conference, 2024, Madrid, Spain, pp. 1-6.

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  • M. Alberich-Carramiñana, J. Guàrdia, E. Nart, A. Poteaux, J. Roé and M. Weimann. Polynomial factorization over Henselian fields. Foundations of computational mathematics: 51pages, 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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  • G. Fiche, S. Leglaive, X. Alameda, A. Agudo and F. Moreno-Noguer. VQ-HPS: Human pose and shape estimation in a vector-quantized latent space, 18th European Conference on Computer Vision, 2024, Milano, Italy, in Computer Vision – ECCV 2024, Vol 15110 of Lecture Notes in Computer Science, pp. 471-490, 2024.

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  • A. Longhini, Y. Wang, I. Garcia-Camacho, D. Blanco-Mulero, M. Moletta, M.C. Welle, G. Alenyà, H. Yin, Z. Erickson, D. Held, J. Borràs and D. Kragic. Unfolding the literature: a review of robotic cloth manipulation. Annual Review of Control, Robotics, and Autonomous Systems, 8, 2024, to appear.

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  • N. Vallès and J. Pareto. Artificial intelligence as a mode of ordering. Automated-decision making in primary care. Information, Communication & Society, 2024, to appear.

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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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  • 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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  • E.B. Bueno Benito and M. Dimiccoli. 2by2: weakly-supervised learning for global action segmentation, 27th International Conference on Pattern Recognition, 2024, Kolkata, in Pattern Recognition, Vol 15315 of Lecture Notes in Computer Science, pp. 380-395, 2024, Cham.

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  • N. Vallès, C. Barrue and G. Alenyà. La heteronomía en los robots sociales asistenciales. Una experiencia piloto con un robot para dar de comer en el hospital, XV Congreso Español de Sociología, 2024, Sevilla.

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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.

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  • A. Olivares-Alarcos, S. Foix, J. Borràs, G. Canal and G. Alenyà. Ontological modeling and reasoning for comparison and contrastive narration of robot plans, 23rd International Conference on Autonomous Agents and Multiagent Systems, 2024, Auckland (New Zealand), pp. 2405-2407.

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  • J.A. Delgado-Guerrero, A. Colomé, S. Foix and C. Torras. Safety methods for Cartesian control of redundant robotic arms, 7th Iberian Robotics Conference, 2024, Madrid, Spain, pp. 1-7.

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  • C. Escolano, C. Barrue, J. Picas and G. Alenyà. Studying the performance of automatic speech recognition systems on older adults, 2024 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). Workshop in Trends in Socially Assistive Robotics: Human-centered Approach, 2024, Pasadena, California, USA.

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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, pp. 504-509, IEEE.

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  • A. Favata, L. van Noort, R. Gallart, J. Exposito, J. Medina-Cantillo, A. Nascimento, C. Torras, D. Natera-de Benito, J.M. Font and R. Pàmies-Vilà. ArmTracker: Augmenting clinical assessment in neuromuscular diseases by means of advanced motion analysis, 2024 Congreso Internacional Duchenne Parent Project España, 2024, Madrid, pp. 1.

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  • G. Tapia, A. Colomé and C. Torras. Unsupervised trajectory segmentation and gesture recognition through curvature analysis and the Levenshtein distance, 7th Iberian Robotics Conference, 2024, Madrid, Spain, pp. 1-8.

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  • A. Rossi, P. Holthaus, S. Moros, G. Lakatos, A. Andriella, M. Scheunemann and A. Van Maris. Trust, acceptance and social cues in human-robot interaction (SCRITA)(Editorial). International Journal of Social Robotics, 16: 1047-1048, 2024.

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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.

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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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  • J. Exposito, A. Favata, R. Gallart, J. Medina-Cantillo, L. Carrera, A. Nascimento, R. Pàmies-Vilà, C. Torras, J.M. Font and D. Natera-de Benito. Biomarcadores digitales prometedores para medir la función motora de extremidad superior en distrofia muscular de Duchenne, 2024 Reunión Anual de la Sociedad Española de Neurología Pediátrica, 2024, Valladolid, pp. 19.

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  • L.M. Lach, R. Haschke, D. Tateo, J. Peters, H. Ritter, J. Borràs and C. Torras. Zero-shot transfer of a tactile-based continuous force control policy from simulation to robot, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024, Abu Dhabi, UAE, pp. 725-732.

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  • J. Laplaza, F. Moreno-Noguer and A. Sanfeliu. Enhancing robotic collaborative tasks through contextual human motion prediction and intention inference. International Journal of Social Robotics: 1-20, 2024, to appear.

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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. Civit. Multi-user multi-objective personalization in robotic-assisted tasks, 2024 IRI Doctoral Day, 2024, Barcelona, pp. 5.

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  • A. Favata, L. van Noort, R. Gallart, J. Exposito, A. Nascimento, J. Medina-Cantillo, C. Torras, D. Natera-de Benito, J.M. Font and R. Pàmies-Vilà. Enhancing clinical assessment in children with neuromuscular diseases with kinematic parameterization: a one-year follow-up, 2024 Reunión del Capítulo Español de la Sociedad Europea de Biomecánica, 2024, Pamplona, pp. 43.

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  • A.F. Budria, A. López, O. Lorente and F. Moreno-Noguer. InstantGeoAvatar: Effective geometry and appearance modeling of animatable avatars from monocular video, 17th Asian Conference on Computer Vision, 2024, Hanoi, in Computer Vision – ACCV 2024, Vol 15472 of Lecture Notes in Computer Science, pp. 255-277, 2024.

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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, Davos, Switzerland, pp. 995-1005.

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  • O. Barbany, A. Colomé and C. Torras. Deformable surface reconstruction via Riemannian metric preservation. Computer Vision and Image Understanding, 249: 104155, 2024.

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  • I. Garcia-Camacho. Benchmarks for garment manipulation, 2024 IRI Doctoral Day, 2024, Barcelona, pp. 7.

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  • D. Natera-de Benito, A. Favata, J. Exposito, R. Gallart, O. Moya, S. Roca, A. Marzabal, L. van Noort, C. Torras, A. Nascimento, J. Medina-Cantillo, R. Pàmies-Vilà and J.M. Font. Advancing upper limb motor function evaluation in DMD and SMA via kinematic parameterization with the wearable device , 2024 Annual Congress of the World Muscle Society, 2024, Prague, pp. 14.

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  • C. Lázaro and C. Angulo. Iterative application of UMAP-based algorithms for fully synthetic healthcare tabular data generation . Algorithms, 17(12): 591, 2024.

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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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  • 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.

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  • M. Gutiérrez. No bells, just whistles: sports field registration by leveraging geometric properties, 2024 IRI Doctoral Day, 2024, Barcelona, pp. 9.

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  • A. Favata, L. van Noort, R. Gallart, J. Exposito, J. Medina-Cantillo, A. Nascimento, D. Natera-de Benito, C. Torras, J.M. Font and R. Pàmies-Vilà. Using upper limb kinematics to refine clinical assessment in neuromuscular disorders, 2024 Annual Meeting of the European Society of Movement Analysis in Adults and Children, 2024, Oslo, pp. 68-69.

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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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  • 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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  • S. Izquierdo. Flexible plan generation, adaptation and execution in human-robot collaboration, 2024 IRI Doctoral Day, 2024, Barcelona, pp. 10.

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  • N. Ugrinovic, T. Lucas, F. Baradel, P. Weinzaepfel, G. Rogez and F. Moreno-Noguer. Purposer: Putting human motion generation in context , 2024 International Conference on 3D Vision, 2024, Davos, Switzerland, pp. 1310-1319.

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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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  • 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, pp. 168-175, IEEE.

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  • T. Love. Fostering human-robot mutual understanding by explaining the internal beliefs, 2024 IRI Doctoral Day, 2024, Barcelona, pp. 11.

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  • N. Ugrinovic, B. Pan, G. Pavlakos, D. Paschalidou, B. Shen, J. Sanchez, F. Moreno-Noguer and L. Guibas. MultiPhys: Multi-person physics-aware 3D motion estimation , 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2024, Seattle, USA, pp. 2331-2340.

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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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  • A. Aryania, R. Huertas, S. Forgas, C. Angulo and G. Alenyà. How do people intend to disclose personal information to a social robot in public spaces?, 33rd IEEE International Symposium on Robot and Human Interactive Communication, 2024, Pasadena, California, USA, pp. 1809-1814, IEEE.

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  • A. Olivares-Alarcos. Foundations of ontology-based explainable robots, 2024 IRI Doctoral Day, 2024, Barcelona, pp. 13.

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  • A. Civit, R. Stower, I. Leite, A. Andriella and G. Alenyà. Robots as mediators to resolve multi-user preference conflicts, 2024 Workshop on Weighing the benefits of autonomous robot personalisation , 2024, Pasadena (CA), USA, pp. 1-5.

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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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  • 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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  • M. Pérez. Multimodal data fusion for multiple object tracking: a reference perception system for ADAS and AV functions validation, 2024 IRI Doctoral Day, 2024, Barcelona, pp. 14.

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  • T. Love, A. Andriella and G. Alenyà. Personalising explanations and explaining personalisation, 2024 Workshop on Weighing the benefits of autonomous robot personalisation , 2024, Pasadena (CA), USA.

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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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  • 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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  • G. Capellera, L. Ferraz, A. Rubio, A. Agudo and F. Moreno-Noguer. TranSPORTmer: A holistic approach to trajectory understanding in multi-agent sports scenarios, 17th Asian Conference on Computer Vision, 2024, Hanoi, in Computer Vision – ACCV 2024, Vol 15472 of Lecture Notes in Computer Science, pp. 333–352, 2024.

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  • G.D. Delmas, P. Weinzaepfel, T. Lucas, F. Moreno-Noguer and G. Rogez. PoseScript: linking 3D human poses and natural language. IEEE Transactions on Pattern Analysis and Machine Intelligence: 1-13, 2024, to appear.

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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.

Perception and Manipulation Laboratory
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