CLOTH manIpulation Learning from DEmonstrations

Publications

Peer reviewed articles (25)

Mobile Manipulation Hackathon: Moving into Real World Applications

Author(s): Maximo A. Roa; Mehmet R. Dogar; Jordi Pages; Carlos Vivas; Antonio Morales; Nikolaus Correll; Michael Görner; Jan Rosell; Sergi Foix; Raphael Memmesheimer; Francesco Ferro
Published in: IEEE Robotics and Automation Magazine, 2021, Page(s) 112-124, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2021.3061951

Topological representation of cloth state for robot manipulation: deriving the configuration space of a rectangular cloth

Author(s): Strazzeri, Fabio; Torras, Carme
Published in: Autonomous Robots, 12, 2021, Page(s) 737-754, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-021-09968-7

A Physically Assistive Robotics User Study

Author(s): Gerard Canal; Carme Torras; Guillem Alenyà
Published in: ACM Transactions on Human-Robot Interaction, 2021, ISSN 2573-9522
Publisher: ACM
DOI: 10.1145/3472208

Introducing CARESSER: A framework for in situ learning robot social assistance from expert knowledge and demonstrations

Author(s): Antonio Andriella; Carme Torras; Carla Abdelnour; Guillem Alenyà
Published in: User Modeling and User-Adapted Interaction, 2022, ISSN 0924-1868
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s11257-021-09316-5

Household cloth object set: Fostering benchmarking in deformable object manipulation

Author(s): Irene Garcia-Camacho, Júlia Borràs, Berk Calli, Adam Norton, Guillem Alenyà
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3158428

Perturbation-based stiffness inference in variable impedance control

Author(s): Edoardo Caldarelli, Adrià Colomé, Carme Torras
Published in: IEEE Robotics and Automation Letters, 2022, Page(s) 8823-8830, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3187866

Do I Have a Personality? Endowing Care Robots with Context-Dependent Personality Traits

Author(s): Antonio Andriella, Henrique Siqueira, Di Fu, Sven Magg, Pablo Barros, Stefan Wermter, Carme Torras, Guillem Alenyà
Published in: International Journal of Social Robotics, 2021, ISSN 1875-4791
Publisher: Springer Verlag
DOI: 10.1007/s12369-020-00690-5

An inextensible model for the robotic manipulation of textiles

Author(s): Franco Coltraro; Jaume Amorós; Maria Alberich-Carramiñana; Maria Alberich-Carramiñana; Carme Torras
Published in: Applied Mathematical Modelling, 4, 2022, ISSN 0307-904X
Publisher: Elsevier BV
DOI: 10.1016/j.apm.2021.09.013

The ethical issues of social assistive robotics: A critical literature review

Author(s): Júlia Pareto, Begoña Roman, Carme Torras
Published in: Technology in Society, 2021, Page(s) 101726, ISSN 0160-791X
Publisher: Elsevier BV
DOI: 10.1016/j.techsoc.2021.101726

El aprendizaje en sistemas autónomos e inteligentes: visión general y sesgos de fuentes de datos

Author(s): Pablo Jiménez-Schlegl
Published in: Arbor: Ciencia, Pensamiento y Cultura, 10, 2022, ISSN 0210-1963
Publisher: Consejo Superior De Investigaciones Cientificas
DOI: 10.3989/arbor.2021.802005

Task-Adaptive Robot Learning From Demonstration With Gaussian Process Models Under Replication

Author(s): Miguel Arduengo, Adria Colome, Julia Borras, Luis Sentis, Carme Torras
Published in: IEEE Robotics and Automation Letters, 6/2, 2021, Page(s) 966-973, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3056367

A topological extension of movement primitives for curvature modulation and sampling of robot motion

Author(s): Adrià Colomé; Carme Torras
Published in: Autonomous Robots, 6, 2021, Page(s) 725-735, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-021-09976-7

How do consumers' gender and rational thinking affect the acceptance of entertainment social robots?

Author(s): Santiago Forgas-Coll, Ruben Huertas-Garcia, Antonio Andriella, Guillem Alenyà
Published in: International Journal of Social Robotics, 2022, Page(s) 973–994, ISSN 1875-4791
Publisher: Springer Verlag
DOI: 10.1007/s12369-021-00845-y

The effects of gender and personality of robot assistants on customers’ acceptance of their service

Author(s): Santiago Forgas-Coll, Ruben Huertas-Garcia, Antonio Andriella, Guillem Alenyà
Published in: Service Bussiness, 2022, Page(s) 359–389, ISSN 1862-8516
Publisher: Springer Verlag
DOI: 10.1007/s11628-022-00492-x

Dimensionality Reduction in Learning Gaussian Mixture Models of Movement Primitives for Contextualized Action Selection and Adaptation

Author(s): Adria Colome, Carme Torras
Published in: IEEE Robotics and Automation Letters, 3/4, 2018, Page(s) 3922-3929, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2857921

Dimensionality Reduction for Dynamic Movement Primitives and Application to Bimanual Manipulation of Clothes

Author(s): Adria Colome, Carme Torras
Published in: IEEE Transactions on Robotics, 34/3, 2018, Page(s) 602-615, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2018.2808924

Xarxes socials i companyia robòtica: tecnologia, ètica, i ciència-ficció

Author(s): Carme Torras
Published in: Mètode Revista de difusió de la investigació, 9, 2018, Page(s) 47-53, ISSN 2174-9221
Publisher: Universitat de Valencia
DOI: 10.7203/metode.9.12479

Exploiting Symmetries in Reinforcement Learning of Bimanual Robotic Tasks

Author(s): Fabio Amadio, Adria Colome, Carme Torras
Published in: IEEE Robotics and Automation Letters, 4/2, 2019, Page(s) 1838-1845, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2898330

Assistive robotics: Research challenges and ethics education initiatives

Author(s): Carme Torras
Published in: DILEMATA: International Journal of Applied Ethics, 30, 2019, Page(s) 63-77, ISSN 1989-7022
Publisher: Dilemata

Benchmarking Bimanual Cloth Manipulation

Author(s): Irene Garcia-Camacho, Martina Lippi, Michael C. Welle, Hang Yin, Rika Antonova, Anastasiia Varava, Julia Borras, Carme Torras, Alessandro Marino, Guillem Alenya, Danica Kragic
Published in: IEEE Robotics and Automation Letters, 5/2, 2020, Page(s) 1111-1118, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2020.2965891

A Grasping-Centered Analysis for Cloth Manipulation

Author(s): Julia Borras, Guillem Alenya, Carme Torras
Published in: IEEE Transactions on Robotics, 36/3, 2020, Page(s) 924-936, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2020.2986921

A Versatile Gripper for Cloth Manipulation

Author(s): Sonia Donaire, Julia Borras, Guillem Alenya, Carme Torras
Published in: IEEE Robotics and Automation Letters, 5/4, 2020, Page(s) 6520-6527, ISSN 2377-3766
Publisher: IEEE Press
DOI: 10.1109/lra.2020.3015172

Perception of cloth in assistive robotic manipulation tasks

Author(s): Pablo Jiménez, Carme Torras
Published in: Natural Computing, 19/2, 2020, Page(s) 409-431, ISSN 1567-7818
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s11047-020-09784-5

"Science-fiction: A mirror for the future of humankind. Special issue on ""Artificial Intelligence"""

Author(s): Carme Torras
Published in: IDEES, https://revistaidees.cat/en/science-fiction-favors-engaging-debate-on-artificial-intelligence-and-ethics/, 2020, Page(s) 1-11, ISSN 1575-0914
Publisher: R. López de Mántaras, C. Sierra and P. Almeda

Generating predicate suggestions based on the space of plans: an example of planning with preferences

Author(s): Gerard Canal, Carme Torras, Guillem Alenyà
Published in: User Modeling and User-Adapted Interaction, 2022, ISSN 0924-1868
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s11257-022-09327-w

Thesis dissertations (13)

Identificació d'orientació de roba per a la detecció de peces de dins cap a fora per manipulació amb robots

Author(s): Pau Solsona, Attila Husar, Pablo Jiménez
Published in: UPC Bachelor Thesis, 2022
Publisher: Universitat Politècnica de Catalunya

Mà robòtica multifuncional per a tasques domèstiques

Author(s): Sònia Donaire, Júlia Borràs
Published in: UPC Bachelor Thesis, 2019
Publisher: Universitat Politècnica de Catalunya

Using Symmetries in Reinforcement Learning of Bimanual Robotic Tasks

Author(s): Fabio Amadio, Adrià Colomé, Maria Serra
Published in: UPC Master Thesis, 2018
Publisher: Universitat Politènica de Catalunya

Reconstrucció de superfícies amb vora a partir de núvol de punts

Author(s): Miquel Verdaguer López, Jaume Amorós
Published in: UPC Bachelor Thesis, 2021
Publisher: Universitat Politècnica de Catalunya

Manipulación robòtica de tela: percepció i ajust de model

Author(s): Julen Antonio Echevarria, Franco Coltraro, Jaume Amorós
Published in: UPC Bachelor Thesis, 2020
Publisher: Universitat Politècnica de Catalunya

Development of a learning from demonstration environment using ZED 2i and HTC Vive Pro

Author(s): Arnau Boix, Sergi Foix, Arnau Dòria
Published in: UPC Bachelor Thesis, 2022
Publisher: Universitat Politècnica de Catalunya

Robotic Cloth Manipulation: Real Implementation using Model Predictive Control and Reinforcement Learning

Author(s): Adrià Luque, Adrià Colomé, Carlos Ocampo
Published in: UPC Master Thesis, 2021
Publisher: Universitat Politècnica de Catalunya

Robot Learning from Demonstration with Gaussian Processes

Author(s): Miguel Arduengo, Adrià Colomé, Carlos Ocampo, Carme Torras
Published in: UPC Master Thesis, 2021
Publisher: Universitat Politécnica de Catalunya

Primeros pasos en el control de la tela por simulación isométrica

Author(s): José María Julià Morell, Franco Coltrato, Jaume Amorós
Published in: UPC Master Thesis, 2022
Publisher: Universitat Politècnica de Catalunya

Validación del modelo de tela del proyecto Clothilde mediante la simulación y el cálculo numérico

Author(s): Roman Arañó, Franco Coltraro, Jaume Amorós
Published in: UPC Bachelor Thesis, 2020
Publisher: UPC

Gaussian Process applied to modeling the dynamics of a deformable material

Author(s): Ce Xu Zheng, Adrià Colomé, Carme Torras, Luís Sentís
Published in: UPC Bachelor Thesis, 2021
Publisher: Universitat Politècnica de Catalunya

Adapting robot behavior to user preferences in assistive scenarios

Author(s): Canal Camprodon, Gerard
Published in: PhD Thesis, 2020
Publisher: UPC

Robotic manipulation skills for picking and unfolding garments

Author(s): Irene García, Júlia Borràs, Guillem Alenyà
Published in: UPC Master Thesis, 2019
Publisher: Universitat Politècnica de Catalunya

Conference proceedings (20)

Development and Pilot Evaluation of the ArmTracker: A Wearable System to Monitor Arm Kinematics During Daily Life

Author(s): Victor A. Carmona-Ortiz, Joan Lobo-Prat, Jeremy Van Ruysevelt, Carme Torras, Josep M. Font-Llagunes
Published in: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020, Page(s) 759-764, ISBN 978-1-7281-5907-2
Publisher: IEEE
DOI: 10.1109/biorob49111.2020.9224302

Human to Robot Whole-Body Motion Transfer

Author(s): Miguel Arduengo; Ana Arduengo; Adrià Colomé; Joan Lobo-Prat; Carme Torras
Published in: HUMANOIDS, 12, 2021
Publisher: IEEE
DOI: 10.1109/humanoids47582.2021.9555769

Automatic Learning of Cognitive Exercises for Socially Assistive Robotics

Author(s): Alejandro Suárez-Hernández; Antonio Andriella; Aleksandar Taranovic; Javier Segovia-Aguas; Carme Torras; Guillem Alenyà
Published in: IEEE International Symposium on Robot and Human Interactive Communication, 2022, Page(s) 139-146, ISBN 978-1-6654-4637-2
Publisher: IEEE
DOI: 10.1109/ro-man50785.2021.9515433

Discovering SOCIABLE: Using a Conceptual Model to Evaluate the Legibility and Effectiveness of Backchannel Cues in an Entertainment Scenario

Author(s): Antonio Andriella, Ruben Huertas-Garcia, Santiago Forgas-Coll, Carme Torras, Guillem Alenya
Published in: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020, Page(s) 752-759, ISBN 978-1-7281-6075-7
Publisher: IEEE
DOI: 10.1109/ro-man47096.2020.9223450

An inextensible model for the robotic manipulation of textiles

Author(s): Franco Coltraro, Jaume Amorós, Maria Alberich, Carme Torras
Published in: Congreso de ecuaciones diferenciales y aplicaciones XXVII (CEDYA XXVII), 2022, Page(s) 87
Publisher: Universidad de Zaragoza

Interaction identification through tactile sensing during cloth manipulation using a 3-axis touch sensor

Author(s): Idril-Tadzio Geer, Marc Maceira, Júlia Borràs, Carme Torras, Guillem Alenyà
Published in: IROS Workshop on Robotic Manipulation of Deformable Objects (ROMADO), 2020
Publisher: IEEE

Mixtures of controlled Gaussian processes for dynamical modeling of deformable objects

Author(s): Ce Xu Zheng, Adrià Colomé, Luis Sentis, Carme Torras
Published in: Learning for Dynamics & Control Conference (L4DC), 2022
Publisher: PLMR

Ethics for social robotics: A critical analysis

Author(s): Júlia Pareto, Begoña Roman, Carme Torras
Published in: The Road to a Successful HRI: AI, Trust and ethicS Workshop, in the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2022) (TRAITS-HRI), 2022
Publisher: IEEE
DOI: 10.48550/arxiv.2207.12555

Morse cell decomposition and parametrization of surfaces from point clouds

Author(s): Maria Alberich, Jaume Amorós, Franco Coltraro, Carme Torras, Miquel Verdaguer
Published in: Encuentros de Álgebra Computacional y Aplicaciones (EACA), 2022
Publisher: Universitat Jaume I

Anticipatory science fiction to foster ethical debates on AI and robotics

Author(s): Torras, Carme
Published in: International Symposium on Anticipation and Anticipatory Systems: Humans Meet AI (ANTICIPATION), 2019
Publisher: Örebro University

Configuration space of a textile rectangle

Author(s): Fabio Strazzeri, Carme Torras
Published in: Geometry of Varieties and Applications - Research Perspectives CRM Barcelona, Spring 2019, Trends in Mathematics, vol. 10, in press., 2021, Page(s) 133-137
Publisher: Springer
DOI: 10.1007/978-3-030-84800-2_22

The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm

Author(s): Julia Borras, Raphael Heudorfer, Samuel Rader, Peter Kaiser, Tamim Asfour
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 4590-4597, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/IROS.2018.8593567

Probabilistic Planning for Robotics with ROSPlan

Author(s): Gerard Canal, Michael Cashmore, Senka Krivić, Guillem Alenyà, Daniele Magazzeni, Carme Torras
Published in: Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, London, UK, July 3–5, 2019, Proceedings, Part I, 11649, 2019, Page(s) 236-250, ISBN 978-3-030-23806-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-23807-0_20

Variable impedance control in Cartesian latent space while avoiding obstacles in null space

Author(s): David Parent, Adria Colome, Carme Torras
Published in: IEEE International Conference on Robotics and Automation, 2020, Page(s) 9888-9894
Publisher: IEEE

Sample-efficient robot motion learning using Gaussian process latent variable models

Author(s): Juan Antonio Delgado-Guerrero, Adria Colome, Carme Torras
Published in: IEEE International Conference on Robotics and Automation, 2020, Page(s) pp. 314-320
Publisher: IEEE

Dynamic cloth manipulation with deep reinforcement learning

Author(s): Rishab Jangir, Guillem Alenya, Carme Torras
Published in: IEEE International Conference on Robotics and Automation, 2020, Page(s) 4630-4636
Publisher: IEEE

Anticipatory science fiction to foster ethical debates on AI and robotics

Author(s): Torras, Carme
Published in: International Symposium on Anticipation and Anticipatory Systems: Humans Meet AI, 1, 2019, Page(s) 1-3
Publisher: Örebro University

Contextual Policy Search for Micro-Data Robot Motion Learning through Covariate Gaussian Process Latent Variable Models

Author(s): Juan Antonio Delgado-Guerrero, Adria Colome, Carme Torras
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, Page(s) Accepted
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9340709

Knowledge representation to enable high-level planning in cloth manipulation tasks

Author(s): Irene García-Camacho, Júlia Borràs, Guillem Alenyà
Published in: ICAPS Workshop on Knowledge Engineering for Planning and Scheduling (KEPS), 2022, Page(s) 9
Publisher: ICAPS

Self-supervised policy adaptation during deployment

Author(s): Nicklas Hansen, Rishabh Jangir, Yu Sun, Guillem Alenyà, Pieter Abbeel, Alexei Efros A, Lerrel Pinto, Xiaolong Wang
Published in: International Conference on Learning Representations (ICLR), 2021
Publisher: ICLR2021

Book chapters (2)

Developable surfaces with prescribed boundary

Author(s): Maria Alberich, Jaume Amorós, Franco Coltraro
Published in: Trobada GEOMVAP - Geometria de Varietats i Aplicacions (GEOMVAP), 2021, Page(s) 127-132
Publisher: Springer
DOI: 10.1007/978-3-030-84800-2_21

Robotics and artificial intelligence meet the humanities: some initiatives for ethics education and dissemination

Author(s): Torras, Carme
Published in: Humanities and Higher Education: Synergies between Science, Technology and Humanities, 6, 2019, Page(s) 267-273, ISBN 978-84-09-14675-8
Publisher: Global University Network for Innovation (GUNi)

Other (2)

Experimental validation of an inextensible cloth model

Author(s): Franco Coltraro
Published in: IRI Technical Reports, 2020
Publisher: IRI

Learning cloth manipulation with demonstrations

Author(s): Rishabh Jangir, Guillem Alenya, Carme Torras
Published in: IRI Technical Reports, 2019
Publisher: IRI

Non-peer reviewed articles (1)

Blanco y frío como el Polo Norte y el Polo Sur: Seres humanos y robots

Author(s): Carme Torras, Lydia Delicado
Published in: Sociology and Technoscience, 2022, ISSN 1989-8487
Publisher: Universidad de Valladolid

Monographic books (3)

The Vestigial Heart. A Novel of the Robot Age

Author(s): Carme Torras
Published in: 2018, ISBN 9780-262037778
Publisher: MIT Press

Aprenentatge Automàtic en Xarxes i Robots: Reptes Tecnocientífics i Implicacions Ètiques

Author(s): Carme Torras
Published in: 2018, ISBN 978-84-9965-439-3
Publisher: Institut d'Estudis Catalans. Secció de Ciències i Tecnologia

Reinforcement Learning of Bimanual Robot Skills

Author(s): Adria Colome, Carme Torras
Published in: Springer Tracts in Advanced Robotics, 2020, ISBN 978-3-030-26326-3
Publisher: Springer
DOI: 10.1007/978-3-030-26326-3