Skill Acquisition in Humans and Robots

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

Autorzy: Xiao Gao, Kunpeng Yao, Farshad Khadivar, Aude Billard
Opublikowane w: arXiv, Numer 2309.06955v1, 2023
Wydawca: arXiv
DOI: 10.48550/arxiv.2309.06955

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

Autorzy: Sthithpragya Gupta, Kunpeng Yao, Loïc Niederhauser, Aude Billard
Opublikowane w: arXiv, Numer 2404.13191, 2024
Wydawca: Cornell University
DOI: 10.48550/arxiv.2404.13191

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

Autorzy: Koptev, Mikhail
Opublikowane w: Zenodo, Numer 8387198, 2023
Wydawca: Zenodo
DOI: 10.5281/zenodo.8387198

Spring Assembly Experiment Dataset

Autorzy: Yao, Kunpeng
Opublikowane w: Zenodo, Numer 3923804, 2019
Wydawca: Zenodo
DOI: 10.5281/zenodo.3923804

Neural Joint Space Implicit Signed Distance Functions

Autorzy: Koptev, Mikhail
Opublikowane w: Zenodo, Numer 8387165, 2022
Wydawca: Zenodo
DOI: 10.5281/zenodo.8387164

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

Autorzy: Yiting Chen, Xiao Gao, Kunpeng Yao, Loïc Niederhauser, Yasemin Bekiroglu, Aude Billard
Opublikowane w: arXiv, Numer 2309.16085, 2023
Wydawca: arXiv
DOI: 10.48550/arxiv.2309.16085

iCub Joint Space Self-Collision Avoidance

Autorzy: Koptev, M.
Opublikowane w: Zenodo, Numer 8387095, 2021
Wydawca: Zenodo
DOI: 10.5281/zenodo.8387095

Unscrewing Experiment Dataset

Autorzy: Yao, Kunpeng
Opublikowane w: Zenodo, Numer 3923806, 2020
Wydawca: Zenodo
DOI: 10.5281/zenodo.3923806

Passive Obstacle Aware Control to Follow Desired Velocity

Autorzy: Huber, Lukas ; Trinca, Thibaud ; Slotine, Jean-Jacques ; Billard, Aude
Opublikowane w: arXiv, 2024
Wydawca: Cornell University
DOI: 10.48550/arxiv.2405.05669

Learning High Dimensional Demonstrations Using Laplacian Eigenmaps

Autorzy: Sthithpragya Gupta, Aradhana Nayak, Aude Billard
Opublikowane w: arXiv, Numer 2207.08714, 2022
Wydawca: Cornell University
DOI: 10.48550/arxiv.2207.08714

Fast Obstacle Avoidance Based on Real-Time Sensing

Autorzy: Lukas Huber, Jean-Jacques Slotine, Aude Billard
Opublikowane w: IEEE Robotics and Automation Letters, Numer Volume 8, Numer 3, March 2023, 2023, Strona(/y) 1375 - 1382, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2022.3232271

Learning dynamical systems with bifurcations

Autorzy: Farshad Khadivar, Ilaria Lauzana and Aude Billard
Opublikowane w: Robotics and Autonomous Systems, Numer Volume 136, February 2021, 103700, 2020, Strona(/y) 1-9, ISSN 0921-8890
Wydawca: Elsevier BV
DOI: 10.1016/j.robot.2020.103700

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

Autorzy: F. Iwane, A. Billard & J.d.R. Millán
Opublikowane w: Nature Scientific Reports, Numer Article number: 20163 (2023), 2023, ISSN 2045-2322
Wydawca: Nature Publishing Group
DOI: 10.1038/s41598-023-47136-2

Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects

Autorzy: Kunpeng Yao; Aude Billard
Opublikowane w: IEEE Transactions on Robotics, Numer Volume: 39, Numer: 3, 2023, Strona(/y) 1982 - 2002, ISSN 1552-3098
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3253249

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

Autorzy: Mikhail Koptev; Nadia Figueroa; Aude Billard
Opublikowane w: IEEE ROBOTICS AND AUTOMATION LETTERS, Numer VOL. 8, NO. 2, 2022, Strona(/y) 480-487, ISSN 2377-3774
Wydawca: Electronic ISSN: 2377-3766
DOI: 10.1109/lra.2022.3227860

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

Autorzy: Mikhail Koptev, Nadia Figueroa, Aude Billard
Opublikowane w: IEEE Robotics and Automation Letters, Numer 6/2, 2021, Strona(/y) 1240-1247, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2021.3057024

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

Autorzy: Rui Wu, Aude Billard
Opublikowane w: IEEE/ASME Transactions on Mechatronics, 2021, Strona(/y) 1-12, ISSN 1083-4435
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2021.3123356

Avoidance of Concave Obstacles through Rotation of Nonlinear Dynamics

Autorzy: Lukas Huber, Jean-Jacques Slotine, Aude Billard
Opublikowane w: IEEE Transactions on Robotics, Numer 18 December 2023, 2023, Strona(/y) 1-20, ISSN 1941-0468
Wydawca: IEEE
DOI: 10.1109/tro.2023.3344034

Self-Correcting Quadratic Programming-Based Robot Control

Autorzy: Farshad Khadivar; Konstantinos Chatzilygeroudis; Aude Billard
Opublikowane w: IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, ISSN 2168-2232
Wydawca: IEEE
DOI: 10.1109/tsmc.2023.3262954

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

Autorzy: Huber, Lukas; Slotine, Jean-Jacques; and Billard Aude
Opublikowane w: IEEE Transactions on Robotics, Numer 2 May 2022, 2022, Strona(/y) 1-10, ISSN 1941-0468
Wydawca: IEEE
DOI: 10.1109/tro.2022.3164789

Trends and challenges in robot manipulation

Autorzy: Aude Billard, Danica Kragic
Opublikowane w: Science, Numer 364/6446, 2019, Strona(/y) eaat8414, ISSN 0036-8075
Wydawca: 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

Autorzy: Kunpeng Yao, Aude Billard
Opublikowane w: Biological Cybernetics, Numer 114/1, 2020, Strona(/y) 63-82, ISSN 0340-1200
Wydawca: Springer Verlag
DOI: 10.1007/s00422-019-00814-9

Benchmark for Bimanual Robotic Manipulation of Semi-Deformable Objects

Autorzy: Konstantinos Chatzilygeroudis, Bernardo Fichera, Ilaria Lauzana, Fanjun Bu, Kunpeng Yao, Farshad Khadivar, Aude Billard
Opublikowane w: IEEE Robotics and Automation Letters, Numer 5/2, 2020, Strona(/y) 2443-2450, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2020.2972837

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

Autorzy: Bernardo Fichera, Aude Billard
Opublikowane w: Journal of Machine Learning Research, Numer 23(294), 2022, Strona(/y) 1−35, ISSN 1533-7928
Wydawca: Microtome Publishing

Hand pose selection in a bimanual fine-manipulation task

Autorzy: Kunpeng Yao; Dagmar Sternad; Aude Billard
Opublikowane w: J Neurophysiol, Numer 126, 2021, ISSN 1573-9007
Wydawca: American Physiological Society
DOI: 10.1152/jn.00635.2020

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

Autorzy: Mikhail Koptev, Nadia Figueroa, and Aude Billard
Opublikowane w: SageJournals, 2024, ISSN 0278-3649
Wydawca: SAGE Publications
DOI: 10.1177/02783649241246557

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

Autorzy: Farshad Khadivar; Aude Billard
Opublikowane w: IEEE Transactions on Robotics, Numer Volume: 39, Numer: 5, October 2023, 2023, Strona(/y) 3350 - 3367, ISSN 1552-3098
Wydawca: 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

Autorzy: Farshad Khadivar; Kunpeng Yao; Xiao Gao; Aude Billard
Opublikowane w: Elsevier Robotics And Autonomous Systems, Numer Volume 166, 2023, Strona(/y) 104461, ISSN 0921-8890
Wydawca: Elsevier BV
DOI: 10.1016/j.robot.2023.104461

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

Autorzy: L. Niederhauser; A. Prabhakar; D. Reber; A.Billard
Opublikowane w: IEEE Robotics and Automation Letters, Numer February 2024 (Volume: 9, Numer: 2), 2023, Strona(/y) 1596 - 1603, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2023.3340614

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

Autorzy: Zhou, Zhehua; Song, Jiayang;Yao, Kunpeng; Shu, Zhan; Ma, Lei
Opublikowane w: IEEE ICRA, 2024
Wydawca: IEEE

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

Autorzy: Soheil Gholami, Kunpeng Yao, James Hermus, Etienne Burdet, Aude Billard
Opublikowane w: IEEE IROS, 2023
Wydawca: IEEE

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

Autorzy: Kunpeng Yao, Anaïs Haget, Aude Billard
Opublikowane w: Progress in Motor Control XII: Movement Improvement, Numer 09.07.2019, 2019
Wydawca: N/A

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

Autorzy: Caroline Savio, Kunpeng Yao, Aude Billard
Opublikowane w: Neural Control of Movement 2022 Annual Meeting, Numer 29.07.2022, 2022
Wydawca: Society for Neural Control of Movement

Dynamical system approach to navigation around obstacles

Autorzy: Aradhana Nayak, Aude Billard
Opublikowane w: European Conference on Control, Numer June 2024, 2024
Wydawca: ECC

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

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

Implicit Manifold Gaussian Process Regression

Autorzy: Fichera, Bernardo; Borovitskiy, Viacheslav; Krause, Andreas; Billard, Aude
Opublikowane w: Advances in Neural Information Processing Systems 36 (NeurIPS 2023), Numer 2310.19390, 2023
Wydawca: Cornell University
DOI: 10.48550/arxiv.2310.19390

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

Autorzy: Kunpeng Yao, Dagmar Sternad, Aude Billard
Opublikowane w: Neural Control of Movement 2022 Annual Meeting, Numer 26.07.2022, 2022
Wydawca: Society for Neural Control of Movement

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

Autorzy: Kunpeng Yao, Aude Billard
Opublikowane w: Workshop on Learning of Manual Skills in Humans and Robots. IEEE International Conference on Robotics and Automation (ICRA), Numer 31.05.2020, 2020
Wydawca: IEEE International Conference on Robotics and Automation (ICRA)

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Autorzy: Bernardo Fichera, Aude Billard
Opublikowane w: ISRR 2022, 2023, Strona(/y) SPAR,volume 2, pp 387–394, ISSN 2511-1256
Wydawca: Springer Link
DOI: 10.1007/978-3-031-25555-7_26

On Force Synergies in Human Grasping Behavior

Autorzy: Starke, J., Chatzilygeroudis, K., Billard, A., and Asfour T.
Opublikowane w: International Conference on Humanoid Robots 2019, Toronto Canada, 2019
Wydawca: IEEE

Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators

Autorzy: Farshad Khadivar, Sthithparagya Gupta, Walid Amanhoud, Aude Billard
Opublikowane w: 2021 IEEE International Conference on Robotics and Automation (ICRA), Numer 30 May 2021 - 05 June 2021, 2021, ISBN 978-1-7281-9077-8
Wydawca: IEEE
DOI: 10.1109/icra48506.2021.9561587

A Unified Approach to Obstacle Avoidance and Motion Learning

Autorzy: Huber, L, Slotine, J.-J., and Billard, A.
Opublikowane w: Workshop on Deployable Decision Making in Embodied Systems (DDM), 2021
Wydawca: NeurIPS

Integrating Multisensory Information for Modeling Human Dexterous Bimanual Manipulation Skills

Autorzy: Kunpeng Yao, Bernardo Fichera, Anaïs Haget, Ilaria Lauzana, Aude Billard
Opublikowane w: IEEE/RSJ International Conference on Intelligent Robots and Systems - Workshop: The Intelligence of Touch: Haptics, Tactile, Interaction., Numer 01.10.2018, 2018
Wydawca: IEEE/RSJ

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

Autorzy: Kunpeng Yao
Opublikowane w: Numer 04.02.2022, 2022
Wydawca: EPFL

Implicit Distance Functions: Learning and Applications in Robotics

Autorzy: Koptev, Mikhail; Billard, Aude
Opublikowane w: 2023
Wydawca: EPFL
DOI: 10.5075/epfl-thesis-10197

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

Autorzy: Khadivar, Farshad; Billard, Aude
Opublikowane w: 2022
Wydawca: EPFL
DOI: 10.5075/epfl-thesis-9747

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

Autorzy: Huber, Lukas; Billard, Aude
Opublikowane w: 2024
Wydawca: EPFL
DOI: 10.5075/epfl-thesis-10373

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