Now showing items 1-20 of 20

  • A friction-model-based framework for reinforcement learning of robotic tasks in non-rigid environments 

    Colomé Figueras, Adrià; Planells Valencia, Antoni; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference report
    Open Access
    Learning motion tasks in a real environment with deformable objects requires not only a Reinforcement Learning (RL) algorithm, but also a good motion characterization, a preferably compliant robot controller, and an agent ...
  • Bimanual robot skills: MP encoding, dimensionality reduction and reinforcement learning 

    Colomé Figueras, Adrià (Universitat Politècnica de Catalunya, 2017-07-14)
    Doctoral thesis
    Open Access
    In our culture, robots have been in novels and cinema for a long time, but it has been specially in the last two decades when the improvements in hardware - better computational power and components - and advances in ...
  • Closed-loop inverse kinematics for redundant robots: comparative assessment and two enhancements 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Article
    Open Access
    Motivated by the need of a robust and practical Inverse Kinematics (IK) algorithm for the WAM robot arm, we reviewed the most used Closed-Loop IK (CLIK) methods for redundant robots, analysing their main points of concern: ...
  • Demonstration-free contextualized probabilistic movement primitives, further enhanced with obstacle avoidance 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Conference report
    Open Access
    Movement Primitives (MPs) have been widely used over the last years for learning robot motion tasks with direct Policy Search (PS) reinforcement learning. Among them, Probabilistic Movement Primitives (ProMPs) are a kind ...
  • Dimensionality reduction and motion coordination in learning trajectories with dynamic movement primitives 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Dynamic Movement Primitives (DMP) are nowadays widely used as movement parametrization for learning trajectories, because of their linearity in the parameters, rescaling robustness and continuity. However, when learning a ...
  • Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Article
    Open Access
    Dynamic Movement Primitives (DMPs) are nowadays widely used as movement parametrization for learning robot trajectories, because of their linearity in the parameters, rescaling robustness and continuity. However, when ...
  • Dimensionality reduction for probabilistic movement primitives 

    Colomé Figueras, Adrià; Neumann, Gerhard; Peters, Jan; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    Humans as well as humanoid robots can use a large number of degrees of freedom to solve very complex motor tasks. The high-dimensionality of these motor tasks adds difficulties to the control problem and machine learning ...
  • Dimensionality reduction in learning Gaussian mixture models of movement primitives for contextualized action selection and adaptation 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Article
    Open Access
    Robotic manipulation often requires adaptation to changing environments. Such changes can be represented by a certain number of contextual variables that may be observed or sensed in different manners. When learning and ...
  • 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
    Open Access
    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 ...
  • Exploiting symmetries in reinforcement learning of bimanual robotic tasks 

    Amadio, Fabio; Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Article
    Open Access
    Movement Primitives (MPs) have been widely adopted for representing and learning robotic movements using Reinforcement Learning Policy Search. Probabilistic Movement Primitives (ProMPs) are a kind of MP based on a stochastic ...
  • External force estimation during compliant robot manipulation 

    Colomé Figueras, Adrià; Pardo Ayala, Diego Esteban; Alenyà Ribas, Guillem; Torras, Carme (2013)
    Conference report
    Open Access
    This paper presents a method to estimate external forces exerted on a manipulator, avoiding the use of a sensor. The method is based on task-oriented dynamics model learning and a robust disturbance state observer. The ...
  • External force estimation for textile grasp detection 

    Colomé Figueras, Adrià; Pardo Ayala, Diego Esteban; Alenyà Ribas, Guillem; Torras, Carme (2012)
    Conference report
    Open Access
    Our current work on external force estimation without end-effector force sensor is resented.To verify if a grasp of a textile has been successful, the external wrench applied on the robot is computed online, with a state ...
  • Handling high parameter dimensionality in reinforcement learning with dynamic motor primitives 

    Colomé Figueras, Adrià; Alenyà Ribas, Guillem; Torras, Carme (2013)
    Conference report
    Open Access
    Dynamic Motor Primitives (DMP) are nowadays widely used as movement parametrization for learning trajectories, because of their linearity in the parameters, rescalation robustness and continuity. However, when learning a ...
  • Positioning two redundant arms for cooperative manipulation of objects 

    Colomé Figueras, Adrià; Torras, Carme (Springer, 2013)
    Conference report
    Open Access
    Bimanual manipulation of objects is receiving a lot of attention nowadays, but there is few literature addressing the design of the arms configuration. In this paper, we propose a way to analyze the relative positioning ...
  • Predicció del comportament dinàmic d'un vehicle 

    Colomé Figueras, Adrià (Universitat Politècnica de Catalunya, 2009-09)
    Master thesis (pre-Bologna period)
    Restricted access - author's decision
    “El comportament dinàmic d’un vehicle de carretera és una de les parts més importants de la seguretat activa d’un vehicle. Qualsevol vehicle donat, junt amb el seu conductor i entorn governant, forma un sistema de llaç ...
  • Realtime tracking and grasping of a moving object from range video 

    Husain, Syed Farzad; Colomé Figueras, Adrià; Dellen, Babette; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    In this paper we present an automated system that is able to track and grasp a moving object within the workspace of a manipulator using range images acquired with a Microsoft Kinect sensor. Realtime tracking is achieved ...
  • Redundant inverse kinematics: experimental comparative review and two enhancements 

    Colomé Figueras, Adrià; Torras, Carme (2012)
    Conference report
    Open Access
    Motivated by the need of a robust and practical Inverse Kinematics (IK) algorithm for the WAM robot arm, we reviewed the most used closed-loop methods for redundant robots, analysing their main points of concern: convergence, ...
  • Reward-weighted GMM and its application to action-selection in robotized shoe dressing 

    Colomé Figueras, Adrià; Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (Springer, 2017)
    Conference report
    Open Access
    In the context of assistive robotics, robots need to make multiple decisions. We explore the problem where a robot has multiple choices to perform a task and must select the action that maximizes success probability among ...
  • Robot motion adaptation through user intervention and reinforcement learning 

    Jevtic, Aleksandar; Colomé Figueras, Adrià; Alenyà Ribas, Guillem; Torras, Carme (Elsevier, 2018-04-01)
    Article
    Open Access
    Assistant robots are designed to perform specific tasks for the user, but their performance is rarely optimal, hence they are required to adapt to user preferences or new task requirements. In the previous work, the potential ...
  • User evaluation of an interactive learning framework for single-arm and dual-arm robots 

    Jevtic, Aleksandar; Colomé Figueras, Adrià; Alenyà Ribas, Guillem; Torras, Carme (Springer, 2016)
    Conference report
    Open Access
    Social robots are expected to adapt to their users and, like their human counterparts, learn from the interaction. In our previous work, we proposed an interactive learning framework that enables a user to intervene and ...