As leader

As contributor

Publications

• O. Barbany, A. Colomé and C. Torras. Beyond static perception: Integrating temporal context into VLMs for cloth folding, 2025 ICRA Workshop on Representing and Manipulating Deformable Objects, 2025, , pp. 1-4.

  Abstract Info PDF

• O. Barbany, A. Colomé and C. Torras. BiFold: Bimanual cloth folding with language guidance, 2025 IEEE International Conference on Robotics and Automation, 2025, Atlanta (GA, USA), pp. 5652-5659.

  Abstract Info PDF

• E. Caldarelli, A. Chatalic, A. Colomé, C. Molinari, C. Ocampo-Martínez, C. Torras and L. Rosasco. Linear quadratic control of nonlinear systems with Koopman operator learning and the Nyström method. Automatica, 177: 112302, 2025.

  Abstract Info PDF

• 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.

  Abstract Info PDF

• 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.

  Abstract Info PDF

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

  Abstract Info PDF

• 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.

  Abstract Info PDF

• 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.

  Abstract Info PDF

• 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.

  Abstract Info PDF

• 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.

  Abstract Info PDF

PhD Theses as supervisor

• Feedback models for real-time robotic cloth manipulation

  Student:

  Oriol Barbany Mayor

  Started:

  19/07/2021

  Description Info

• Efficient Learning and Real-Time Control for Robotic Manipulation of Deformable Objects

  Student:

  Harsha Vardhan Guda

  Started:

  01/10/2024

  Description Info

Master theses as supervisor

• Language-Grounded Multimodal Safe Reinforcement Learning for Adaptive Compliance in Contact-Rich Manipulation

  Student:

  Carlos Jiménez Farfán

  Started:

  12/01/2026

  Description Info