Skill Acquisition in Humans and Robots

Project Information

SAHR

Grant agreement ID: 741945

DOI

10.3030/741945

Project closed

EC signature date 11 August 2017

Start date 1 October 2017

End date 31 March 2024

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost

€ 2 492 036,00

EU contribution

€ 2 492 036,00

Coordinated by

ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE
Switzerland

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Open Research Data Pilot (1)

Data Management Plan

Publications

Other (12)

Real-Time Motion Planning for In-Hand Manipulation with a Multi-Fingered Hand

Author(s): Xiao Gao, Kunpeng Yao, Farshad Khadivar, Aude Billard
Published in: arXiv, Issue 2309.06955v1, 2023
Publisher: arXiv
DOI: 10.48550/arxiv.2309.06955

Enhancing Dexterity In Confined Spaces: Real-Time Motion Planning for Multi-Fingered In-Hand Manipulation

Author(s): Gao, X., Yao, K., Khadivar, F., Billard, A.
Published in: 2024
Publisher: UNDER REVIEW
DOI: 10.48550/arXiv.2309.06955

Action Contextualization: Adaptive Task Planning and Action Tuning using Large Language Models

Author(s): Sthithpragya Gupta, Kunpeng Yao, Loïc Niederhauser, Aude Billard
Published in: arXiv, Issue 2404.13191, 2024
Publisher: Cornell University
DOI: 10.48550/arxiv.2404.13191

Reactive Collision-Free Motion Generation in Joint Space via Dynamical Systems and Sampling-Based MPC

Author(s): Koptev, Mikhail
Published in: Zenodo, Issue 8387198, 2023
Publisher: Zenodo
DOI: 10.5281/zenodo.8387198

Spring Assembly Experiment Dataset

Author(s): Yao, Kunpeng
Published in: Zenodo, Issue 3923804, 2019
Publisher: Zenodo
DOI: 10.5281/zenodo.3923804

Neural Joint Space Implicit Signed Distance Functions

Author(s): Koptev, Mikhail
Published in: Zenodo, Issue 8387165, 2022
Publisher: Zenodo
DOI: 10.5281/zenodo.8387164

Learning Dynamical Systems Encoding Non-Linearity within Space Curvature

Author(s): Bernardo Fichera; Aude Billard
Published in: arXiv, Issue 2403.11948, 2024
Publisher: Cornell University
DOI: 10.48550/arXiv.2403.11948

Differentiable Robot Neural Distance Function for Adaptive Grasp Synthesis on a Unified Robotic Arm-Hand System

Author(s): Yiting Chen, Xiao Gao, Kunpeng Yao, Loïc Niederhauser, Yasemin Bekiroglu, Aude Billard
Published in: arXiv, Issue 2309.16085, 2023
Publisher: arXiv
DOI: 10.48550/arxiv.2309.16085

iCub Joint Space Self-Collision Avoidance

Author(s): Koptev, M.
Published in: Zenodo, Issue 8387095, 2021
Publisher: Zenodo
DOI: 10.5281/zenodo.8387095

Unscrewing Experiment Dataset

Author(s): Yao, Kunpeng
Published in: Zenodo, Issue 3923806, 2020
Publisher: Zenodo
DOI: 10.5281/zenodo.3923806

Passive Obstacle Aware Control to Follow Desired Velocity

Author(s): Huber, Lukas ; Trinca, Thibaud ; Slotine, Jean-Jacques ; Billard, Aude
Published in: arXiv, 2024
Publisher: Cornell University
DOI: 10.48550/arxiv.2405.05669

Learning High Dimensional Demonstrations Using Laplacian Eigenmaps

Author(s): Sthithpragya Gupta, Aradhana Nayak, Aude Billard
Published in: arXiv, Issue 2207.08714, 2022
Publisher: Cornell University
DOI: 10.48550/arxiv.2207.08714

Peer reviewed articles (19)

Fast Obstacle Avoidance Based on Real-Time Sensing

Author(s): Lukas Huber, Jean-Jacques Slotine, Aude Billard
Published in: IEEE Robotics and Automation Letters, Issue Volume 8, Issue 3, March 2023, 2023, Page(s) 1375 - 1382, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3232271

Learning dynamical systems with bifurcations

Author(s): Farshad Khadivar, Ilaria Lauzana and Aude Billard
Published in: Robotics and Autonomous Systems, Issue Volume 136, February 2021, 103700, 2020, Page(s) 1-9, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2020.103700

Inferring individual evaluation criteria for reaching trajectories with obstacle avoidance from EEG signals.

Author(s): F. Iwane, A. Billard & J.d.R. Millán
Published in: Nature Scientific Reports, Issue Article number: 20163 (2023), 2023, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-023-47136-2

Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects

Author(s): Kunpeng Yao; Aude Billard
Published in: IEEE Transactions on Robotics, Issue Volume: 39, Issue: 3, 2023, Page(s) 1982 - 2002, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3253249

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Author(s): Mikhail Koptev; Nadia Figueroa; Aude Billard
Published in: IEEE ROBOTICS AND AUTOMATION LETTERS, Issue VOL. 8, NO. 2, 2022, Page(s) 480-487, ISSN 2377-3774
Publisher: Electronic ISSN: 2377-3766
DOI: 10.1109/lra.2022.3227860

Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots

Author(s): Mikhail Koptev, Nadia Figueroa, Aude Billard
Published in: IEEE Robotics and Automation Letters, Issue 6/2, 2021, Page(s) 1240-1247, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3057024

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Author(s): Rui Wu, Aude Billard
Published in: IEEE/ASME Transactions on Mechatronics, 2021, Page(s) 1-12, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2021.3123356

Avoidance of Concave Obstacles through Rotation of Nonlinear Dynamics

Author(s): Lukas Huber, Jean-Jacques Slotine, Aude Billard
Published in: IEEE Transactions on Robotics, Issue 18 December 2023, 2023, Page(s) 1-20, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/tro.2023.3344034

Self-Correcting Quadratic Programming-Based Robot Control

Author(s): Farshad Khadivar; Konstantinos Chatzilygeroudis; Aude Billard
Published in: IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, ISSN 2168-2232
Publisher: IEEE
DOI: 10.1109/tsmc.2023.3262954

Avoiding Dense and Dynamic Obstacles in Enclosed Spaces: Application to Moving in Crowds

Author(s): Huber, Lukas; Slotine, Jean-Jacques; and Billard Aude
Published in: IEEE Transactions on Robotics, Issue 2 May 2022, 2022, Page(s) 1-10, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/tro.2022.3164789

Trends and challenges in robot manipulation

Author(s): Aude Billard, Danica Kragic
Published in: Science, Issue 364/6446, 2019, Page(s) eaat8414, ISSN 0036-8075
Publisher: American Association for the Advancement of Science
DOI: 10.1126/science.aat8414

An inverse optimization approach to understand human acquisition of kinematic coordination in bimanual fine manipulation tasks

Author(s): Kunpeng Yao, Aude Billard
Published in: Biological Cybernetics, Issue 114/1, 2020, Page(s) 63-82, ISSN 0340-1200
Publisher: Springer Verlag
DOI: 10.1007/s00422-019-00814-9

Benchmark for Bimanual Robotic Manipulation of Semi-Deformable Objects

Author(s): Konstantinos Chatzilygeroudis, Bernardo Fichera, Ilaria Lauzana, Fanjun Bu, Kunpeng Yao, Farshad Khadivar, Aude Billard
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 2443-2450, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2972837

Linearization and Identification of Multiple-Attractor Dynamical Systems through Laplacian Eigenmaps

Author(s): Bernardo Fichera, Aude Billard
Published in: Journal of Machine Learning Research, Issue 23(294), 2022, Page(s) 1−35, ISSN 1533-7928
Publisher: Microtome Publishing

Hand pose selection in a bimanual fine-manipulation task

Author(s): Kunpeng Yao; Dagmar Sternad; Aude Billard
Published in: J Neurophysiol, Issue 126, 2021, ISSN 1573-9007
Publisher: American Physiological Society
DOI: 10.1152/jn.00635.2020

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Author(s): Mikhail Koptev, Nadia Figueroa, and Aude Billard
Published in: SageJournals, 2024, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/02783649241246557

Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics

Author(s): Farshad Khadivar; Aude Billard
Published in: IEEE Transactions on Robotics, Issue Volume: 39, Issue: 5, October 2023, 2023, Page(s) 3350 - 3367, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3280028

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Author(s): Farshad Khadivar; Kunpeng Yao; Xiao Gao; Aude Billard
Published in: Elsevier Robotics And Autonomous Systems, Issue Volume 166, 2023, Page(s) 104461, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2023.104461

A Predictive Model for Tactile Force Estimation Using Audio-Tactile Data

Author(s): L. Niederhauser; A. Prabhakar; D. Reber; A.Billard
Published in: IEEE Robotics and Automation Letters, Issue February 2024 (Volume: 9, Issue: 2), 2023, Page(s) 1596 - 1603, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3340614

Conference proceedings (14)

ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planning

Author(s): Zhou, Zhehua; Song, Jiayang;Yao, Kunpeng; Shu, Zhan; Ma, Lei
Published in: IEEE ICRA, 2024
Publisher: IEEE

Multilimb Coordination in Human Neuroscience and Robotics: Classical and Learning Perspectives

Author(s): Soheil Gholami, Kunpeng Yao, James Hermus, Etienne Burdet, Aude Billard
Published in: IEEE IROS, 2023
Publisher: IEEE

Towards understanding of human kinematic coordination patterns in bimanual fine manipulation tasks

Author(s): Kunpeng Yao, Anaïs Haget, Aude Billard
Published in: Progress in Motor Control XII: Movement Improvement, Issue 09.07.2019, 2019
Publisher: N/A

Force Synergies Within and Across the Two Hands in Bimanual Skill Acquisition

Author(s): Caroline Savio, Kunpeng Yao, Aude Billard
Published in: Neural Control of Movement 2022 Annual Meeting, Issue 29.07.2022, 2022
Publisher: Society for Neural Control of Movement

Dynamical system approach to navigation around obstacles

Author(s): Aradhana Nayak, Aude Billard
Published in: European Conference on Control, Issue June 2024, 2024
Publisher: ECC

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Author(s): Ferreira Duarte, Nuno Ricardo; Chatzilygeroudis, Konstantinos; Santos-Victor, José; Billard, Aude
Published in: 2020 Joint IEEE 10th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob), Issue Date of Conference: 26-30 October 2020, 2020, ISBN 978-1-7281-7306-1
Publisher: IEEE
DOI: 10.1109/icdl-epirob48136.2020.9278084

Implicit Manifold Gaussian Process Regression

Author(s): Fichera, Bernardo; Borovitskiy, Viacheslav; Krause, Andreas; Billard, Aude
Published in: Advances in Neural Information Processing Systems 36 (NeurIPS 2023), Issue 2310.19390, 2023
Publisher: Cornell University
DOI: 10.48550/arxiv.2310.19390

Effects of Task Conditions on Human Hand Pose Selection Strategies in a Bimanual Fine Manipulation Task

Author(s): Kunpeng Yao, Dagmar Sternad, Aude Billard
Published in: Neural Control of Movement 2022 Annual Meeting, Issue 26.07.2022, 2022
Publisher: Society for Neural Control of Movement

Effect of task conditions on human hand pose selection strategies in bimanual fine manipulation tasks

Author(s): Kunpeng Yao, Aude Billard
Published in: Workshop on Learning of Manual Skills in Humans and Robots. IEEE International Conference on Robotics and Automation (ICRA), Issue 31.05.2020, 2020
Publisher: IEEE International Conference on Robotics and Automation (ICRA)

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Author(s): Bernardo Fichera, Aude Billard
Published in: ISRR 2022, 2023, Page(s) SPAR,volume 2, pp 387–394, ISSN 2511-1256
Publisher: Springer Link
DOI: 10.1007/978-3-031-25555-7_26

On Force Synergies in Human Grasping Behavior

Author(s): Starke, J., Chatzilygeroudis, K., Billard, A., and Asfour T.
Published in: International Conference on Humanoid Robots 2019, Toronto Canada, 2019
Publisher: IEEE

Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators

Author(s): Farshad Khadivar, Sthithparagya Gupta, Walid Amanhoud, Aude Billard
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), Issue 30 May 2021 - 05 June 2021, 2021, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561587

A Unified Approach to Obstacle Avoidance and Motion Learning

Author(s): Huber, L, Slotine, J.-J., and Billard, A.
Published in: Workshop on Deployable Decision Making in Embodied Systems (DDM), 2021
Publisher: NeurIPS

Integrating Multisensory Information for Modeling Human Dexterous Bimanual Manipulation Skills

Author(s): Kunpeng Yao, Bernardo Fichera, Anaïs Haget, Ilaria Lauzana, Aude Billard
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems - Workshop: The Intelligence of Touch: Haptics, Tactile, Interaction., Issue 01.10.2018, 2018
Publisher: IEEE/RSJ

Thesis and dissertations (4)

Enhancing our understanding of human fine manipulation skills and advancing robot dexterity in grasping

Author(s): Kunpeng Yao
Published in: Issue 04.02.2022, 2022
Publisher: EPFL

Implicit Distance Functions: Learning and Applications in Robotics

Author(s): Koptev, Mikhail; Billard, Aude
Published in: 2023
Publisher: EPFL
DOI: 10.5075/epfl-thesis-10197

Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation

Author(s): Khadivar, Farshad; Billard, Aude
Published in: 2022
Publisher: EPFL
DOI: 10.5075/epfl-thesis-9747

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Author(s): Huber, Lukas; Billard, Aude
Published in: 2024
Publisher: EPFL
DOI: 10.5075/epfl-thesis-10373