Skill Acquisition in Humans and Robots

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

Autori: Xiao Gao, Kunpeng Yao, Farshad Khadivar, Aude Billard
Pubblicato in: arXiv, Numero 2309.06955v1, 2023
Editore: arXiv
DOI: 10.48550/arxiv.2309.06955

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

Autori: Sthithpragya Gupta, Kunpeng Yao, Loïc Niederhauser, Aude Billard
Pubblicato in: arXiv, Numero 2404.13191, 2024
Editore: Cornell University
DOI: 10.48550/arxiv.2404.13191

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

Autori: Koptev, Mikhail
Pubblicato in: Zenodo, Numero 8387198, 2023
Editore: Zenodo
DOI: 10.5281/zenodo.8387198

Spring Assembly Experiment Dataset

Autori: Yao, Kunpeng
Pubblicato in: Zenodo, Numero 3923804, 2019
Editore: Zenodo
DOI: 10.5281/zenodo.3923804

Neural Joint Space Implicit Signed Distance Functions

Autori: Koptev, Mikhail
Pubblicato in: Zenodo, Numero 8387165, 2022
Editore: Zenodo
DOI: 10.5281/zenodo.8387164

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

Autori: Yiting Chen, Xiao Gao, Kunpeng Yao, Loïc Niederhauser, Yasemin Bekiroglu, Aude Billard
Pubblicato in: arXiv, Numero 2309.16085, 2023
Editore: arXiv
DOI: 10.48550/arxiv.2309.16085

iCub Joint Space Self-Collision Avoidance

Autori: Koptev, M.
Pubblicato in: Zenodo, Numero 8387095, 2021
Editore: Zenodo
DOI: 10.5281/zenodo.8387095

Unscrewing Experiment Dataset

Autori: Yao, Kunpeng
Pubblicato in: Zenodo, Numero 3923806, 2020
Editore: Zenodo
DOI: 10.5281/zenodo.3923806

Passive Obstacle Aware Control to Follow Desired Velocity

Autori: Huber, Lukas ; Trinca, Thibaud ; Slotine, Jean-Jacques ; Billard, Aude
Pubblicato in: arXiv, 2024
Editore: Cornell University
DOI: 10.48550/arxiv.2405.05669

Learning High Dimensional Demonstrations Using Laplacian Eigenmaps

Autori: Sthithpragya Gupta, Aradhana Nayak, Aude Billard
Pubblicato in: arXiv, Numero 2207.08714, 2022
Editore: Cornell University
DOI: 10.48550/arxiv.2207.08714

Fast Obstacle Avoidance Based on Real-Time Sensing

Autori: Lukas Huber, Jean-Jacques Slotine, Aude Billard
Pubblicato in: IEEE Robotics and Automation Letters, Numero Volume 8, Numero 3, March 2023, 2023, Pagina/e 1375 - 1382, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3232271

Learning dynamical systems with bifurcations

Autori: Farshad Khadivar, Ilaria Lauzana and Aude Billard
Pubblicato in: Robotics and Autonomous Systems, Numero Volume 136, February 2021, 103700, 2020, Pagina/e 1-9, ISSN 0921-8890
Editore: Elsevier BV
DOI: 10.1016/j.robot.2020.103700

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

Autori: F. Iwane, A. Billard & J.d.R. Millán
Pubblicato in: Nature Scientific Reports, Numero Article number: 20163 (2023), 2023, ISSN 2045-2322
Editore: Nature Publishing Group
DOI: 10.1038/s41598-023-47136-2

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

Autori: Mikhail Koptev, Nadia Figueroa, Aude Billard
Pubblicato in: IEEE Robotics and Automation Letters, Numero 6/2, 2021, Pagina/e 1240-1247, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3057024

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

Autori: Rui Wu, Aude Billard
Pubblicato in: IEEE/ASME Transactions on Mechatronics, 2021, Pagina/e 1-12, ISSN 1083-4435
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2021.3123356

Avoidance of Concave Obstacles through Rotation of Nonlinear Dynamics

Autori: Lukas Huber, Jean-Jacques Slotine, Aude Billard
Pubblicato in: IEEE Transactions on Robotics, Numero 18 December 2023, 2023, Pagina/e 1-20, ISSN 1941-0468
Editore: IEEE
DOI: 10.1109/tro.2023.3344034

Self-Correcting Quadratic Programming-Based Robot Control

Autori: Farshad Khadivar; Konstantinos Chatzilygeroudis; Aude Billard
Pubblicato in: IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, ISSN 2168-2232
Editore: IEEE
DOI: 10.1109/tsmc.2023.3262954

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

Autori: Huber, Lukas; Slotine, Jean-Jacques; and Billard Aude
Pubblicato in: IEEE Transactions on Robotics, Numero 2 May 2022, 2022, Pagina/e 1-10, ISSN 1941-0468
Editore: IEEE
DOI: 10.1109/tro.2022.3164789

Trends and challenges in robot manipulation

Autori: Aude Billard, Danica Kragic
Pubblicato in: Science, Numero 364/6446, 2019, Pagina/e eaat8414, ISSN 0036-8075
Editore: 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

Autori: Kunpeng Yao, Aude Billard
Pubblicato in: Biological Cybernetics, Numero 114/1, 2020, Pagina/e 63-82, ISSN 0340-1200
Editore: Springer Verlag
DOI: 10.1007/s00422-019-00814-9

Benchmark for Bimanual Robotic Manipulation of Semi-Deformable Objects

Autori: Konstantinos Chatzilygeroudis, Bernardo Fichera, Ilaria Lauzana, Fanjun Bu, Kunpeng Yao, Farshad Khadivar, Aude Billard
Pubblicato in: IEEE Robotics and Automation Letters, Numero 5/2, 2020, Pagina/e 2443-2450, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.2972837

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

Autori: Bernardo Fichera, Aude Billard
Pubblicato in: Journal of Machine Learning Research, Numero 23(294), 2022, Pagina/e 1−35, ISSN 1533-7928
Editore: Microtome Publishing

Hand pose selection in a bimanual fine-manipulation task

Autori: Kunpeng Yao; Dagmar Sternad; Aude Billard
Pubblicato in: J Neurophysiol, Numero 126, 2021, ISSN 1573-9007
Editore: American Physiological Society
DOI: 10.1152/jn.00635.2020

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

Autori: Mikhail Koptev, Nadia Figueroa, and Aude Billard
Pubblicato in: SageJournals, 2024, ISSN 0278-3649
Editore: SAGE Publications
DOI: 10.1177/02783649241246557

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

Autori: Farshad Khadivar; Aude Billard
Pubblicato in: IEEE Transactions on Robotics, Numero Volume: 39, Numero: 5, October 2023, 2023, Pagina/e 3350 - 3367, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3280028

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

Autori: L. Niederhauser; A. Prabhakar; D. Reber; A.Billard
Pubblicato in: IEEE Robotics and Automation Letters, Numero February 2024 (Volume: 9, Numero: 2), 2023, Pagina/e 1596 - 1603, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2023.3340614

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

Autori: Zhou, Zhehua; Song, Jiayang;Yao, Kunpeng; Shu, Zhan; Ma, Lei
Pubblicato in: IEEE ICRA, 2024
Editore: IEEE

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

Autori: Soheil Gholami, Kunpeng Yao, James Hermus, Etienne Burdet, Aude Billard
Pubblicato in: IEEE IROS, 2023
Editore: IEEE

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

Autori: Kunpeng Yao, Anaïs Haget, Aude Billard
Pubblicato in: Progress in Motor Control XII: Movement Improvement, Numero 09.07.2019, 2019
Editore: N/A

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

Autori: Caroline Savio, Kunpeng Yao, Aude Billard
Pubblicato in: Neural Control of Movement 2022 Annual Meeting, Numero 29.07.2022, 2022
Editore: Society for Neural Control of Movement

Dynamical system approach to navigation around obstacles

Autori: Aradhana Nayak, Aude Billard
Pubblicato in: European Conference on Control, Numero June 2024, 2024
Editore: ECC

Implicit Manifold Gaussian Process Regression

Autori: Fichera, Bernardo; Borovitskiy, Viacheslav; Krause, Andreas; Billard, Aude
Pubblicato in: Advances in Neural Information Processing Systems 36 (NeurIPS 2023), Numero 2310.19390, 2023
Editore: Cornell University
DOI: 10.48550/arxiv.2310.19390

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

Autori: Kunpeng Yao, Dagmar Sternad, Aude Billard
Pubblicato in: Neural Control of Movement 2022 Annual Meeting, Numero 26.07.2022, 2022
Editore: Society for Neural Control of Movement

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

Autori: Kunpeng Yao, Aude Billard
Pubblicato in: Workshop on Learning of Manual Skills in Humans and Robots. IEEE International Conference on Robotics and Automation (ICRA), Numero 31.05.2020, 2020
Editore: IEEE International Conference on Robotics and Automation (ICRA)

On Force Synergies in Human Grasping Behavior

Autori: Starke, J., Chatzilygeroudis, K., Billard, A., and Asfour T.
Pubblicato in: International Conference on Humanoid Robots 2019, Toronto Canada, 2019
Editore: IEEE

A Unified Approach to Obstacle Avoidance and Motion Learning

Autori: Huber, L, Slotine, J.-J., and Billard, A.
Pubblicato in: Workshop on Deployable Decision Making in Embodied Systems (DDM), 2021
Editore: NeurIPS

Integrating Multisensory Information for Modeling Human Dexterous Bimanual Manipulation Skills

Autori: Kunpeng Yao, Bernardo Fichera, Anaïs Haget, Ilaria Lauzana, Aude Billard
Pubblicato in: IEEE/RSJ International Conference on Intelligent Robots and Systems - Workshop: The Intelligence of Touch: Haptics, Tactile, Interaction., Numero 01.10.2018, 2018
Editore: IEEE/RSJ

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

Autori: Kunpeng Yao
Pubblicato in: Numero 04.02.2022, 2022
Editore: EPFL

Implicit Distance Functions: Learning and Applications in Robotics

Autori: Koptev, Mikhail; Billard, Aude
Pubblicato in: 2023
Editore: EPFL
DOI: 10.5075/epfl-thesis-10197

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

Autori: Khadivar, Farshad; Billard, Aude
Pubblicato in: 2022
Editore: EPFL
DOI: 10.5075/epfl-thesis-9747

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

Autori: Huber, Lukas; Billard, Aude
Pubblicato in: 2024
Editore: EPFL
DOI: 10.5075/epfl-thesis-10373

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