Robotic Manipulation for Nuclear Sort and Segregation

Resultado final

Project website. Report.

Project website

Force cues based on integral error signals

Project interfaces and data types

Multi-modal, multi-category object modelling

Learning with the different types of instructions

Learning Active segmentation from human instructions

Real-time visual localisation and control

semi-autonomous learning for reactive grasping and disentangling objects

performance evaluation of the RoMaNS robotic manipulation system

Performance evaluation of the RoMaNS robotic manipulation system

Semi-autonomous learning for trajectory and grasp planning

measuring expert MSM operator population

Adaptive visual tracking for arbitrary objects without training

Mapping between human and robot hands

bench-mark performance measurement on standardised tasks

Bench-mark performance measurement on standardised tasks

Publicaciones

A Visual-Based Shared Control Architecture for Remote Telemanipulation

Autores: Robuffo Giordano, Paolo; Abi-Farraj, Firas; Pedemonte, Nicolò
Publicado en: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Oct 2016, Daejeon, South Korea, Issue 1, 2016

Towards Categorization and Pose Estimation of Sets of Occluded Objects in Cluttered Scenes from Depth Data and Generic Object Models Using Joint Parsing

Autores: H. Basevi, A. Leonardis.
Publicado en: ECCV Workshop on 6DOF Pose Estimation, 2016

Projected Inverse Dynamics Control and Optimal Control for Robots in Contact with the Environment: A Comparison

Autores: V. Ortenzi, R. Stolkin, J. Kuo, M. Mistry
Publicado en: IROS, 2015

Towards advanced robotic manipulation for nuclear decommissioning: a pilot study on tele-operation and autonomy

Autores: N. Marturi, A. Rastegarpanah, C. Takahashi, M. Kopicki, M. Talha, S. Zurek, M. Adjigble, J.A. Kuo, R. Stolkin, Y. Bekiroglu
Publicado en: IEEE Robotics and Automation for Humanitarian Applications (RAHA), 2016

Regularized Covariance Estimation for Weighted Maximum Likelihood Policy Search Methods

Autores: A. Abdolmaleki, Lau, N., Reis, L. & Neumann, G.
Publicado en: IEEE Humanoids, 2015

Kinematics-Based Estimation of Contact Constraints Using Only Proprioception

Autores: V. Ortenzi, H. Lin, M. Azad, R. Stolkin, Kuo Jeffrey, M. Mistry
Publicado en: IEEE Humanoids, 2016

Autonomous vision-guided bi-manual grasping and manipulation

Autores: A. Rastegarpanah, R. Stolkin
Publicado en: IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), 2017

A real-time tracking and optimised gaze control for a redundant humanoid robot head

Autores: Marturi, N., Ortenzi, V., Xiao, J., Adjigble, M., Stolkin, R. and Leonardis, A.
Publicado en: IEEE-RAS Int. Conf. Humanoid Robots (Humanoids), 2015

Task-relevant grasp selection: a joint solution to planning grasps and manipulative motion trajectories

Autores: A. M.Ghalamzan E., N. Mavrakis, M. Kopicki, A. Leonardis, R. Stolkin
Publicado en: IROS, 2016

The Kernel Kalman Rule - Efficient Nonparametric Inference with Recursive Least Squares

Autores: Gebhardt, G. H. W, Kupcsik, A. and Neumann, G.
Publicado en: National Conference on Artificial Intelligence (AAAI), 2017

Towards robotic decommissioning of legacy nuclear plant: results of human-factors experiments with tele-robotic manipulation, and a discussion of challenges and approaches for decommissioning

Autores: M. Talha, C. Takahashi, A. Ghalamzan, J. Kuo, W. Ingamells, R. Stolkin
Publicado en: IEEE International Symposium on Safety, Security and Rescue Robotics, 2016

Single Target Tracking Using Adaptive Clustered Decision Trees and Dynamic Multi-Level Appearance Models

Autores: J. Xiao, R. Stolkin and A. Leonardis
Publicado en: CVPR, 2015

Optimal Control and Inverse Optimal Control by Distribution Matching

Autores: O. Arenz, Abdulsamad, H. and Neumann, G.
Publicado en: IROS, 2016

Distractor-supported single target tracking in extremely cluttered scenes

Autores: J. Xiao, L. Qiao, R. Stolkin and A. Leonardis
Publicado en: ECCV, 2016

Experiments with Hierarchical Reinforcement Learning of Multiple Grasping Policies

Autores: T. Osa, Peters, J. and Neumann, G.
Publicado en: International Symposium on Experimental Robotics (ISER), 2016

Vision-guided state estimation and control of robotic manipulators which lack proprioceptive sensors

Autores: V. Ortenzi, N. Marturi, R. Stolkin, J. Kuo, M. Mistry
Publicado en: IROS, 2016

Analysis of the inertia and dynamics of grasped objects, for choosing optimal grasps to enable torque-efficient post-grasp manipulations

Autores: N. Mavrakis, A. Ghalamzan, L. Baronti, R. Stolkin, M. Castellani
Publicado en: IEEE Humanoids, 2016

Evaluating Deep Convolutional Neural Networks for Material Classification'

Autores: G. Kalliatakis, G. Stamatiadis, S. Ehsan, A. Leonardis, J. Gall, A. Sticlaru and K. McDonald-Maier
Publicado en: VISAPP, 2017

Visual-Based Shared Control Architecture for Remote Telemanipulation

Autores: Abi-Farraj, F., Pedemonte N., and Robuffo Giordano, P. A
Publicado en: IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2016

Humanoid Teleoperation using Task-Relevant Haptic Feedback

Autores: Abi-Farraj , Firas; Henze , Bernd; Werner , Alexander; Panzirsch , Michael; Ott , Christian; Roa , Máximo ,
Publicado en: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'18, Oct 2018, Madrid, Spain. 2018, Issue 1, 2017

A real-time tracking and optimised gaze control for a redundant humanoid robot head

Autores: Naresh Marturi, Valerio Ortenzi, Jingjing Xiao, Maxime Adjigble, Rustam Stolkin, Ales Leonardis
Publicado en: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 467-474
DOI: 10.1109/humanoids.2015.7363591

Grasp that optimises objectives along post-grasp trajectories

Autores: E, Amir M Ghalamzan; Mavrakis, Nikos; Stolkin, Rustam
Publicado en: Issue 5, 2017

Optimal control and inverse optimal control by distribution matching

Autores: Oleg Arenz, Hany Abdulsamad, Gerhard Neumann
Publicado en: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 4046-4053
DOI: 10.1109/iros.2016.7759596

Hybrid control trajectory optimization under uncertainty

Autores: Joni Pajarinen, Ville Kyrki, Michael Koval, Siddhartha Srinivasa, Jan Peters, Gerhard Neumann
Publicado en: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 5694-5701
DOI: 10.1109/IROS.2017.8206460

Model-Based Relative Entropy Stochastic Search

Autores: Abbas Abdolmaleki, Rodulf Lioutikov, Nuno Lua, Luis Paulo Reis, Jan Peters, Gerhard Neumann
Publicado en: Proceedings of the 2016 on Genetic and Evolutionary Computation Conference Companion - GECCO '16 Companion, 2016, Page(s) 153-154
DOI: 10.1145/2908961.2930952

A fully end-to-end deep learning approach for real-time simultaneous 3D reconstruction and material recognition

Autores: Cheng Zhao, Li Sun, Rustam Stolkin
Publicado en: 2017 18th International Conference on Advanced Robotics (ICAR), 2017, Page(s) 75-82
DOI: 10.1109/ICAR.2017.8023499

Vision-guided state estimation and control of robotic manipulators which lack proprioceptive sensors

Autores: Valerio Ortenzi, Naresh Marturi, Rustam Stolkin, Jeffrey A. Kuo, Michael Mistry
Publicado en: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 3567-3574
DOI: 10.1109/iros.2016.7759525

Regularized covariance estimation for weighted maximum likelihood policy search methods

Autores: Abbas Abdolmaleki, Nuno Lau, Luis Paulo Reis, Gerhard Neumann
Publicado en: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 154-159
DOI: 10.1109/humanoids.2015.7363529

Single-Shot Clothing Category Recognition in Free-Configurations with Application to Autonomous Clothes Sorting

Autores: Sun, Li; Aragon-Camarasa, Gerardo; Rogers, Simon; Stolkin, Rustam; Siebert, J. Paul
Publicado en: Issue 12, 2017

Safe Robotic Grasping: Minimum Impact-Force Grasp Selection

Autores: Mavrakis, Nikos; E., Amir M. Ghalamzan; Stolkin, Rustam
Publicado en: Issue 10, 2017

Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy

Autores: Naresh Marturi, Alireza Rastegarpanah, Chie Takahashi, Maxime Adjigble, Rustam Stolkin, Sebastian Zurek, Marek Kopicki, Mohammed Talha, Jeffrey A. Kuo, Yasemin Bekiroglu
Publicado en: 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA), 2016, Page(s) 1-8
DOI: 10.1109/raha.2016.7931866

User evaluation of a haptic-enabled shared-control approach for robotic telemanipulation

Autores: Abi-Farraj , Firas; Pacchierotti , Claudio; Robuffo Giordano , Paolo
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 4, 2018

A Learning-based Shared Control Architecture for Interactive Task Execution

Autores: Abi-Farraj , Firas; Osa , Takayuki; Pedemonte , Nicolò; Peters , Jan; Neumann , Gerhard; Robuffo Giordano , Paolo
Publicado en: https://hal.inria.fr/hal-01482137, Issue 8, 2017

Human-in-the-loop optimisation: mixed initiative grasping for optimally facilitating post-grasp manipulative actions

Autores: Ghalamzan , Amir ,; Abi-Farraj , Firas; Robuffo Giordano , Paolo; Stolkin , Rustam
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'17, Issue 6, 2017

Utilizing Human Feedback in POMDP Execution and Specification

Autores: Hoelscher, J.; Koert, D.; Peters, J.; Pajarinen, J.
Publicado en: 2018

Learning monocular visual odometry with dense 3D mapping from dense 3D flow

Autores: C Zhao, L Sun, P Purkait, T Duckett, R Stolkin
Publicado en: IEEE Int. Conf. Intelligent Robots and Systems (IROS), 2018

Model-Free Preference-Based Reinforcement Learning

Autores: Wirth, C.; Fürnkranz, J.; Neumann G
Publicado en: Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15), 2015

Sample and Feedback Efficient Hierarchical Reinforcement Learning from Human Preferences

Autores: Pinsler, R.; Akrour, R.; Osa, T.; Peters, J.; Neumann, G
Publicado en: 2018

Single target tracking using adaptive clustered decision trees and dynamic multi-level appearance models

Autores: Jingjing Xiao, Rustam Stolkin, Ales Leonardis
Publicado en: 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2015, Page(s) 4978-4987
DOI: 10.1109/cvpr.2015.7299132

State-Regularized Policy Search for Linearized Dynamical Systems

Autores: Abdulsamad, H.; Arenz, O.; Peters, J.; Neumann, G
Publicado en: International Conference on Automated Planning and Scheduling (ICAPS), 2017

Learning Robust Policies for Object Manipulation with Robot Swarms

Autores: Gebhardt, G.H.W.; Daun, K.; Schnaubelt, M.; Neumann, G
Publicado en: IEEE International Conference on Robotics and Automation, 2018

Efficient Gradient-Free Variational Inference using Policy Search

Autores: Arenz, O.; Zhong, M.; Neumann, G
Publicado en: 35th International Conference on Machine Learning, 2018

Iterative Cost Learning from Different Types of Human Feedback

Autores: Arenz, O.; Neumann, G
Publicado en: IROS 2016 Workshop on Human-Robot Collaboration, 2016

Model-free and learning-free grasping by Local Contact Moment matching

Autores: M Adjigble, N Marturi, V Ortenzi, V Rajasekaran, P Corke, R Stolkin
Publicado en: 2018

Continuously Adaptive Data Fusion and Model Relearning for Particle Filter Tracking With Multiple Features

Autores: Xiao J, Stolkin R, Oussalah M, Leonardis A.
Publicado en: IEEE Sensors, 2016, ISSN 1530-437X

Guiding Trajectory Optimization by Demonstrated Distributions

Autores: Takayuki Osa, Amir M. Ghalamzan Esfahani, Rustam Stolkin, Rudolf Lioutikov, Jan Peters, and Gerhard Neumann
Publicado en: IEEE ROBOTICS AND AUTOMATION LETTERS, Issue 2, 2, April 2017, 2017, Page(s) 819, ISSN 2377-3766

Assisting Movement Training and Execution With Visual and Haptic Feedback

Autores: Marco Ewerton, David Rother, Jakob Weimar, Gerrit Kollegger, Josef Wiemeyer, Jan Peters, Guilherme Maeda
Publicado en: Frontiers in Neurorobotics, Issue 12, 2018, ISSN 1662-5218
DOI: 10.3389/fnbot.2018.00024

Weakly-supervised DCNN for RGB-D Object Recognition in Real-World Applications Which Lack Large-scale Annotated Training Data

Autores: Sun, Li; Zhao, Cheng; Stolkin, Rustam
Publicado en: IEEE Sensors, Issue 16, 2018, Page(s) 3099, ISSN 1530-437X

Hierarchical Relative Entropy Policy Search

Autores: C. Daniel, Neumann, G., Kroemer, O. and Peters, J
Publicado en: Journal of Machine Learning, 2016, ISSN 1532-4435

Dynamic grasp and trajectory planning for moving objects

Autores: Naresh Marturi, Marek Kopicki, Alireza Rastegarpanah, Vijaykumar Rajasekaran, Maxime Adjigble, Rustam Stolkin, Aleš Leonardis, Yasemin Bekiroglu
Publicado en: Autonomous Robots, 2018, ISSN 0929-5593
DOI: 10.1007/s10514-018-9799-1

Haptic-based shared-control methods for a dual-arm system

Autores: Selvaggio , Mario; Abi-Farraj , Firas; Pacchierotti , Claudio; Robuffo Giordano , Paolo; Siciliano , Bruno
Publicado en: IEEE Robotics and Automation Letters, IEEE 2018, 3 (4), pp.4249-4256, Issue 1, 2018, ISSN 2377-3766

Design and Evaluation of a Wearable Haptic Device for Skin Stretch, Pressure, and Vibrotactile Stimuli

Autores: Marco Aggravi, Florent Pause, Paolo Robuffo Giordano, Claudio Pacchierotti
Publicado en: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 2166-2173, ISSN 2377-3766
DOI: 10.1109/LRA.2018.2810887

Passive Task-Prioritized Shared-Control with Haptic Guidance

Autores: M. Selvaggio, P. Robuffo Giordano, F. Ficuciello, and B. Siciliano
Publicado en: Robotics and Automation Letters, 2018, ISSN 2377-3766

Dynamic multi-level appearance models and adaptive clustered decision trees for single target tracking

Autores: J Xiao, R Stolkin, A Leonardis
Publicado en: Pattern Recognition, 2017, ISSN 0031-3203

An Algorithmic Perspective on Imitation Learning

Autores: Osa, T.; Pajarinen, J.; Neumann, G.; Bagnell, J.A.; Abbeel, P.; Peters, J
Publicado en: Foundations and Trends in Robotics, 2018, ISSN 1935-8253

Dense RGB-D semantic mapping with pixel-voxel neural network

Autores: C Zhao, L Sun, P Purkait, T Duckett, R Stolkin
Publicado en: Sensors, 2018, ISSN 1424-8220

A Survey of Preference-Based Reinforcement Learning Methods

Autores: Wirth, C.; Akrour, R.; Fürnkranz, J.; Neumann G
Publicado en: Journal of Machine Learning Research (JMLR), 2017, ISSN 1532-4435

A local-global coupled-layer puppet model for robust online human pose tracking

Autores: Ma, M., Marturi, N., Li, Y., Stolkin, R., Leonardis, A
Publicado en: Computer Vision and Image Understanding, 2016, ISSN 1077-3142

Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks

Autores: F. Abi-Farraj, B. Henze, C. Ott, P. Robuffo Giordano, and M. Roa
Publicado en: IEEE Robotics and Automation Letters, 2018, ISSN 2377-3766

A Haptic Shared-Control Architecture for Guided Robotic Grasping in Unknown Environments

Autores: F. Abi-Farraj, C. Pacchierotti, O. Arenz, G. Neumann, and P. Robuffo Giordano
Publicado en: IEEE Transactions on Haptics, 2018, ISSN 1939-1412

Hierarchical Reinforcement Learning of Multiple Grasping Strategies with Human Instructions

Autores: Osa, T.; Peters, J.; Neumann, G
Publicado en: Advanced Robotics, 2018, ISSN 1568-5535

Region-sequence based six-stream CNN features for general and fine-grained human action recognition in videos

Autores: M Ma, N Marturi, Y Li, A Leonardis, R Stolkin
Publicado en: Pattern Recognition, 2018, ISSN 0031-3203

Robust Fusion of Color and Depth Data for RGB-D Target Tracking Using Adaptive Range-Invariant Depth Models and Spatio-Temporal Consistency Constraints

Autores: J Xiao, R Stolkin, Y Gao, A Leonardis
Publicado en: IEEE Transactions on Cybernetics, 2018, ISSN 2168-2275

Vision-based framework to estimate robot configuration and kinematic constraints.

Autores: N. Marturi, A. Rastegarpanah, C. Takahashi, M. Kopicki, M. Talha, S. Zurek, M. Adjigble, J.A. Kuo, R. Stolkin, Y. Bekiroglu
Publicado en: IEEE/ASME Transactions on Mechatronics, 2018, ISSN 1083-4435

Hybrid motion/force control: a review

Autores: V Ortenzi, R Stolkin, J Kuo, M Mistry
Publicado en: Advanced Robotics, 2017, ISSN 0169-1864

Experiments with Hierarchical Reinforcement Learning of Multiple Grasping Policies

Autores: Takayuki Osa, Jan Peters, Gerhard Neumann
Publicado en: 2016 International Symposium on Experimental Robotics, Issue 1, 2017, Page(s) 160-172
DOI: 10.1007/978-3-319-50115-4_15

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Publicaciones

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