Enviaments recents

  • Relational reinforcement learning for planning with exogenous effects 

    Martinez Martinez, David; Alenyà Ribas, Guillem; Ribeiro, Tony; Inoue, Katsumi; Torras, Carme (2017)
    Article
    Accés obert
    Probabilistic planners have improved recently to the point that they can solve difficult tasks with complex and expressive models. In contrast, learners cannot tackle yet the expressive models that planners do, which forces ...
  • Relational reinforcement learning with guided demonstrations 

    Martínez Martínez, David; Alenyà Ribas, Guillem; Torras, Carme (2017)
    Article
    Accés obert
    Model-based reinforcement learning is a powerful paradigm for learning tasks in robotics. However, in-depth exploration is usually required and the actions have to be known in advance. Thus, we propose a novel algorithm ...
  • Visual grasp point localization, classification and state recognition in robotic manipulation of cloth: an overview 

    Jimenez Schlegl, Pablo (2017)
    Article
    Accés obert
    Cloth manipulation by robots is gaining popularity among researchers because of its relevance, mainly (but not only) in domestic and assistive robotics. The required science and technologies begin to be ripe for the ...
  • On Cayley's factorization of 4D rotations and applications 

    Pérez Gracia, Alba; Thomas, Federico (2017-03-01)
    Article
    Accés obert
    A 4D rotation can be decomposed into a left- and a right-isoclinic rotation. This decomposition, known as Cayley’s factorization of 4D rotations, can be performed using the Elfrinkhof–Rosen method. In this paper, we present ...
  • Random clustering ferns for multimodal object recognition 

    Villamizar Vergel, Michael Alejandro; Garrell Zulueta, Anais; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (2017-09-01)
    Article
    Accés obert
    We propose an efficient and robust method for the recognition of objects exhibiting multiple intra-class modes, where each one is associated with a particular object appearance. The proposed method, called random clustering ...
  • Periodic nonlinear economic model predictive control with changing horizon for water distribution networks 

    Wang, Ye; Salvador Ramon, Jose; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (2017-07-01)
    Article
    Accés obert
    A periodic nonlinear economic model predictive control (EMPC) with changing prediction horizon is proposed for the optimal management of water distribution networks (WDNs). The control model of the WDN is built by means ...
  • 3D human pose tracking priors using geodesic mixture models 

    Simo Serra, Edgar; Torras, Carme; Moreno-Noguer, Francesc (2017-04-01)
    Article
    Accés obert
    We present a novel approach for learning a finite mixture model on a Riemannian manifold in which Euclidean metrics are not applicable and one needs to resort to geodesic distances consistent with the manifold geometry. ...
  • Zonotopic fault estimation filter design for discrete-time descriptor systems 

    Wang, Ye; Wang, Zhenhua; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (2017-07-01)
    Article
    Accés obert
    This paper considers actuator-fault estimation for discrete-time descriptor systems with unknown but bounded system disturbance and measurement noise. A zonotopic fault estimation filter is designed based on the analysis ...
  • Robust optimization based energy dispatch in smart grids considering simultaneously multiple uncertainties: load demands and energy prices 

    Nassourou, M; Puig Cayuela, Vicenç; Blesa Izquierdo, Joaquim (2017-07-01)
    Article
    Accés obert
    Solving the problem of energy dispatch in a heterogeneous complex system is not a trivial task. The problem becomes even more complex considering uncertainties in demands and energy prices. This paper discusses the development ...
  • Word ordering and document adjacency for large loop closure detection in 2D laser maps 

    Deray, Jeremie; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Article
    Accés obert
    We address in this paper the problem of loop closure detection for laser-based simultaneous localization and mapping (SLAM) of very large areas. Consistent with the state of the art, the map is encoded as a graph of poses, ...
  • Dual REPS: a generalization of relative entropy policy search exploiting bad experiences 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
    Article
    Accés obert
    Policy search (PS) algorithms are widely used for their simplicity and effectiveness in finding solutions for robotic problems. However, most current PS algorithms derive policies by statistically fitting the data from the ...
  • Teaching robot’s proactive behavior using human assistance 

    Garrell Zulueta, Anais; Villamizar Vergel, Michael Alejandro; Moreno-Noguer, Francesc; Sanfeliu Cortés, Alberto (2017)
    Article
    Accés obert
    In recent years, there has been a growing interest in enabling autonomous social robots to interact with people. However, many questions remain unresolved regarding the social capabilities robots should have in order to ...

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