Robotic Manipulation for Nuclear Sort and Segregation

Deliverables

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

Publications

A Visual-Based Shared Control Architecture for Remote Telemanipulation

Author(s): Robuffo Giordano, Paolo; Abi-Farraj, Firas; Pedemonte, Nicolò
Published in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Oct 2016, Daejeon, South Korea, Issue 1, 2016
Publisher: IEEE

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

Author(s): H. Basevi, A. Leonardis.
Published in: ECCV Workshop on 6DOF Pose Estimation, 2016
Publisher: Springer

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

Author(s): V. Ortenzi, R. Stolkin, J. Kuo, M. Mistry
Published in: IROS, 2015
Publisher: IEEE

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

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

Regularized Covariance Estimation for Weighted Maximum Likelihood Policy Search Methods

Author(s): A. Abdolmaleki, Lau, N., Reis, L. & Neumann, G.
Published in: IEEE Humanoids, 2015
Publisher: IEEE

Kinematics-Based Estimation of Contact Constraints Using Only Proprioception

Author(s): V. Ortenzi, H. Lin, M. Azad, R. Stolkin, Kuo Jeffrey, M. Mistry
Published in: IEEE Humanoids, 2016
Publisher: IEEE

Autonomous vision-guided bi-manual grasping and manipulation

Author(s): A. Rastegarpanah, R. Stolkin
Published in: IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), 2017
Publisher: IEEE

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

Author(s): Marturi, N., Ortenzi, V., Xiao, J., Adjigble, M., Stolkin, R. and Leonardis, A.
Published in: IEEE-RAS Int. Conf. Humanoid Robots (Humanoids), 2015
Publisher: IEEE

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

Author(s): A. M.Ghalamzan E., N. Mavrakis, M. Kopicki, A. Leonardis, R. Stolkin
Published in: IROS, 2016
Publisher: IEEE

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

Author(s): Gebhardt, G. H. W, Kupcsik, A. and Neumann, G.
Published in: National Conference on Artificial Intelligence (AAAI), 2017
Publisher: AAAI

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

Author(s): M. Talha, C. Takahashi, A. Ghalamzan, J. Kuo, W. Ingamells, R. Stolkin
Published in: IEEE International Symposium on Safety, Security and Rescue Robotics, 2016
Publisher: IEEE

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

Author(s): J. Xiao, R. Stolkin and A. Leonardis
Published in: CVPR, 2015
Publisher: IEEE

Optimal Control and Inverse Optimal Control by Distribution Matching

Author(s): O. Arenz, Abdulsamad, H. and Neumann, G.
Published in: IROS, 2016
Publisher: IEEE

Distractor-supported single target tracking in extremely cluttered scenes

Author(s): J. Xiao, L. Qiao, R. Stolkin and A. Leonardis
Published in: ECCV, 2016
Publisher: Springer

Experiments with Hierarchical Reinforcement Learning of Multiple Grasping Policies

Author(s): T. Osa, Peters, J. and Neumann, G.
Published in: International Symposium on Experimental Robotics (ISER), 2016
Publisher: ISER

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

Author(s): V. Ortenzi, N. Marturi, R. Stolkin, J. Kuo, M. Mistry
Published in: IROS, 2016
Publisher: IEEE

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

Author(s): N. Mavrakis, A. Ghalamzan, L. Baronti, R. Stolkin, M. Castellani
Published in: IEEE Humanoids, 2016
Publisher: IEEE

Evaluating Deep Convolutional Neural Networks for Material Classification'

Author(s): G. Kalliatakis, G. Stamatiadis, S. Ehsan, A. Leonardis, J. Gall, A. Sticlaru and K. McDonald-Maier
Published in: VISAPP, 2017
Publisher: VISAPP

Visual-Based Shared Control Architecture for Remote Telemanipulation

Author(s): Abi-Farraj, F., Pedemonte N., and Robuffo Giordano, P. A
Published in: IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2016
Publisher: IEEE

Humanoid Teleoperation using Task-Relevant Haptic Feedback

Author(s): Abi-Farraj , Firas; Henze , Bernd; Werner , Alexander; Panzirsch , Michael; Ott , Christian; Roa , Máximo ,
Published in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'18, Oct 2018, Madrid, Spain. 2018, Issue 1, 2017
Publisher: IEEE/RSJ

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

Author(s): Naresh Marturi, Valerio Ortenzi, Jingjing Xiao, Maxime Adjigble, Rustam Stolkin, Ales Leonardis
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 467-474, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/humanoids.2015.7363591

Grasp that optimises objectives along post-grasp trajectories

Author(s): E, Amir M Ghalamzan; Mavrakis, Nikos; Stolkin, Rustam
Published in: Issue 5, 2017
Publisher: RSI

Optimal control and inverse optimal control by distribution matching

Author(s): Oleg Arenz, Hany Abdulsamad, Gerhard Neumann
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 4046-4053, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/iros.2016.7759596

Hybrid control trajectory optimization under uncertainty

Author(s): Joni Pajarinen, Ville Kyrki, Michael Koval, Siddhartha Srinivasa, Jan Peters, Gerhard Neumann
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 5694-5701, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206460

Model-Based Relative Entropy Stochastic Search

Author(s): Abbas Abdolmaleki, Rodulf Lioutikov, Nuno Lua, Luis Paulo Reis, Jan Peters, Gerhard Neumann
Published in: Proceedings of the 2016 on Genetic and Evolutionary Computation Conference Companion - GECCO '16 Companion, 2016, Page(s) 153-154, ISBN 9781-450343237
Publisher: ACM Press
DOI: 10.1145/2908961.2930952

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

Author(s): Cheng Zhao, Li Sun, Rustam Stolkin
Published in: 2017 18th International Conference on Advanced Robotics (ICAR), 2017, Page(s) 75-82, ISBN 978-1-5386-3157-7
Publisher: IEEE
DOI: 10.1109/ICAR.2017.8023499

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

Author(s): Valerio Ortenzi, Naresh Marturi, Rustam Stolkin, Jeffrey A. Kuo, Michael Mistry
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 3567-3574, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/iros.2016.7759525

Regularized covariance estimation for weighted maximum likelihood policy search methods

Author(s): Abbas Abdolmaleki, Nuno Lau, Luis Paulo Reis, Gerhard Neumann
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, Page(s) 154-159, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/humanoids.2015.7363529

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

Author(s): Sun, Li; Aragon-Camarasa, Gerardo; Rogers, Simon; Stolkin, Rustam; Siebert, J. Paul
Published in: Issue 12, 2017
Publisher: IEEE

Safe Robotic Grasping: Minimum Impact-Force Grasp Selection

Author(s): Mavrakis, Nikos; E., Amir M. Ghalamzan; Stolkin, Rustam
Published in: Issue 10, 2017
Publisher: IEEE

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

Author(s): Naresh Marturi, Alireza Rastegarpanah, Chie Takahashi, Maxime Adjigble, Rustam Stolkin, Sebastian Zurek, Marek Kopicki, Mohammed Talha, Jeffrey A. Kuo, Yasemin Bekiroglu
Published in: 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA), 2016, Page(s) 1-8, ISBN 978-1-5090-5203-5
Publisher: IEEE
DOI: 10.1109/raha.2016.7931866

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

Author(s): Abi-Farraj , Firas; Pacchierotti , Claudio; Robuffo Giordano , Paolo
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 4, 2018
Publisher: IEEE

A Learning-based Shared Control Architecture for Interactive Task Execution

Author(s): Abi-Farraj , Firas; Osa , Takayuki; Pedemonte , Nicolò; Peters , Jan; Neumann , Gerhard; Robuffo Giordano , Paolo
Published in: https://hal.inria.fr/hal-01482137, Issue 8, 2017
Publisher: IEEE

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

Author(s): Ghalamzan , Amir ,; Abi-Farraj , Firas; Robuffo Giordano , Paolo; Stolkin , Rustam
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'17, Issue 6, 2017
Publisher: IEEE

Utilizing Human Feedback in POMDP Execution and Specification

Author(s): Hoelscher, J.; Koert, D.; Peters, J.; Pajarinen, J.
Published in: 2018
Publisher: IEEE

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

Author(s): C Zhao, L Sun, P Purkait, T Duckett, R Stolkin
Published in: IEEE Int. Conf. Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE

Model-Free Preference-Based Reinforcement Learning

Author(s): Wirth, C.; Fürnkranz, J.; Neumann G
Published in: Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15), 2015
Publisher: AAAI

Sample and Feedback Efficient Hierarchical Reinforcement Learning from Human Preferences

Author(s): Pinsler, R.; Akrour, R.; Osa, T.; Peters, J.; Neumann, G
Published in: 2018
Publisher: IEEE

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

Author(s): Jingjing Xiao, Rustam Stolkin, Ales Leonardis
Published in: 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2015, Page(s) 4978-4987, ISBN 978-1-4673-6964-0
Publisher: IEEE
DOI: 10.1109/cvpr.2015.7299132

State-Regularized Policy Search for Linearized Dynamical Systems

Author(s): Abdulsamad, H.; Arenz, O.; Peters, J.; Neumann, G
Published in: International Conference on Automated Planning and Scheduling (ICAPS), 2017
Publisher: AAAI

Learning Robust Policies for Object Manipulation with Robot Swarms

Author(s): Gebhardt, G.H.W.; Daun, K.; Schnaubelt, M.; Neumann, G
Published in: IEEE International Conference on Robotics and Automation, 2018
Publisher: IEEE

Efficient Gradient-Free Variational Inference using Policy Search

Author(s): Arenz, O.; Zhong, M.; Neumann, G
Published in: 35th International Conference on Machine Learning, 2018
Publisher: IMLS

Iterative Cost Learning from Different Types of Human Feedback

Author(s): Arenz, O.; Neumann, G
Published in: IROS 2016 Workshop on Human-Robot Collaboration, 2016
Publisher: IEEE

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

Author(s): M Adjigble, N Marturi, V Ortenzi, V Rajasekaran, P Corke, R Stolkin
Published in: 2018
Publisher: IEEE

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

Author(s): Xiao J, Stolkin R, Oussalah M, Leonardis A.
Published in: IEEE Sensors, 2016, ISSN 1530-437X
Publisher: Institute of Electrical and Electronics Engineers

Guiding Trajectory Optimization by Demonstrated Distributions

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

Assisting Movement Training and Execution With Visual and Haptic Feedback

Author(s): Marco Ewerton, David Rother, Jakob Weimar, Gerrit Kollegger, Josef Wiemeyer, Jan Peters, Guilherme Maeda
Published in: Frontiers in Neurorobotics, Issue 12, 2018, ISSN 1662-5218
Publisher: Frontiers Research Foundation
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

Author(s): Sun, Li; Zhao, Cheng; Stolkin, Rustam
Published in: IEEE Sensors, Issue 16, 2018, Page(s) 3099, ISSN 1530-437X
Publisher: Institute of Electrical and Electronics Engineers

Hierarchical Relative Entropy Policy Search

Author(s): C. Daniel, Neumann, G., Kroemer, O. and Peters, J
Published in: Journal of Machine Learning, 2016, ISSN 1532-4435
Publisher: MIT Press

Dynamic grasp and trajectory planning for moving objects

Author(s): Naresh Marturi, Marek Kopicki, Alireza Rastegarpanah, Vijaykumar Rajasekaran, Maxime Adjigble, Rustam Stolkin, Aleš Leonardis, Yasemin Bekiroglu
Published in: Autonomous Robots, 2018, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-018-9799-1

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

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

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

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

Passive Task-Prioritized Shared-Control with Haptic Guidance

Author(s): M. Selvaggio, P. Robuffo Giordano, F. Ficuciello, and B. Siciliano
Published in: Robotics and Automation Letters, 2018, ISSN 2377-3766
Publisher: IEEE

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

Author(s): J Xiao, R Stolkin, A Leonardis
Published in: Pattern Recognition, 2017, ISSN 0031-3203
Publisher: Pergamon Press

An Algorithmic Perspective on Imitation Learning

Author(s): Osa, T.; Pajarinen, J.; Neumann, G.; Bagnell, J.A.; Abbeel, P.; Peters, J
Published in: Foundations and Trends in Robotics, 2018, ISSN 1935-8253
Publisher: Now Publishers

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

Author(s): C Zhao, L Sun, P Purkait, T Duckett, R Stolkin
Published in: Sensors, 2018, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)

A Survey of Preference-Based Reinforcement Learning Methods

Author(s): Wirth, C.; Akrour, R.; Fürnkranz, J.; Neumann G
Published in: Journal of Machine Learning Research (JMLR), 2017, ISSN 1532-4435
Publisher: MIT Press

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

Author(s): Ma, M., Marturi, N., Li, Y., Stolkin, R., Leonardis, A
Published in: Computer Vision and Image Understanding, 2016, ISSN 1077-3142
Publisher: Academic Press

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

Author(s): F. Abi-Farraj, B. Henze, C. Ott, P. Robuffo Giordano, and M. Roa
Published in: IEEE Robotics and Automation Letters, 2018, ISSN 2377-3766
Publisher: IEEE

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

Author(s): F. Abi-Farraj, C. Pacchierotti, O. Arenz, G. Neumann, and P. Robuffo Giordano
Published in: IEEE Transactions on Haptics, 2018, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers

Hierarchical Reinforcement Learning of Multiple Grasping Strategies with Human Instructions

Author(s): Osa, T.; Peters, J.; Neumann, G
Published in: Advanced Robotics, 2018, ISSN 1568-5535
Publisher: Taylor and Francis

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

Author(s): M Ma, N Marturi, Y Li, A Leonardis, R Stolkin
Published in: Pattern Recognition, 2018, ISSN 0031-3203
Publisher: Pergamon Press

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

Author(s): J Xiao, R Stolkin, Y Gao, A Leonardis
Published in: IEEE Transactions on Cybernetics, 2018, ISSN 2168-2275
Publisher: IEEE

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

Author(s): N. Marturi, A. Rastegarpanah, C. Takahashi, M. Kopicki, M. Talha, S. Zurek, M. Adjigble, J.A. Kuo, R. Stolkin, Y. Bekiroglu
Published in: IEEE/ASME Transactions on Mechatronics, 2018, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers

Hybrid motion/force control: a review

Author(s): V Ortenzi, R Stolkin, J Kuo, M Mistry
Published in: Advanced Robotics, 2017, ISSN 0169-1864
Publisher: Taylor & Francis

Experiments with Hierarchical Reinforcement Learning of Multiple Grasping Policies

Author(s): Takayuki Osa, Jan Peters, Gerhard Neumann
Published in: 2016 International Symposium on Experimental Robotics, Issue 1, 2017, Page(s) 160-172, ISBN 978-3-319-50114-7
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-50115-4_15

Deliverables

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