Exploració per autor "Suárez Hernández, Alejandro"Més informació

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    • Automatic learning of cognitive exercises for socially assistive robotics 

      Suárez Hernández, Alejandro; Andriella, Antonio; Taranovic, Aleksandar; Segovia Aguas, Javier; Torras, Carme; Alenyà Ribas, Guillem (Institute of Electrical and Electronics Engineers (IEEE), 2021)
      Text en actes de congrés
      Accés obert
      In this paper, we present a learning approach to facilitate the teaching of new board exercises to assistive robotic systems. We formulate the problem as the learning of action models using Boolean predicates, disjunctive ...

    • Integration of task and motion planning for robotics 

      Suárez Hernández, Alejandro (Universitat Politècnica de Catalunya, 2016-04-28)
      Treball Final de Grau
      Accés obert
      Describimos un proyecto de investigación en el cual exploramos la efectividad de una estrategia de integración de planificación simbólica y geométrica en el área de la robótica. Nos proponemos resolver un problema equiparable ...

    • Interleaving hierarchical task planning and motion constraint testing for dual-arm manipulation 

      Suárez Hernández, Alejandro; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Text en actes de congrés
      Accés obert
      In recent years the topic of combining motion and symbolic planning to perform complex tasks in the field of robotics has received a lot of attention. The underlying idea is to have access at once to the reasoning capabilities ...

    • Leveraging multiple environments for learning and decision making: a dismantling use case 

      Suárez Hernández, Alejandro; Gaugry, Thierry; Segovia Aguas, Javier; Bernardin, Antonin; Torras, Carme; Marchal, Maud; Alenyà Ribas, Guillem (Institute of Electrical and Electronics Engineers (IEEE), 2020)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Learning is usually performed by observing real robot executions. Physics-based simulators are a good alternative for providing highly valuable information while avoiding costly and potentially destructive robot executions. ...

    • Natural teaching of robot-assisted rearranging exercises for cognitive training 

      Andriella, Antonio; Suárez Hernández, Alejandro; Segovia Aguas, Javier; Torras, Carme; Alenyà Ribas, Guillem (2019)
      Text en actes de congrés
      Accés obert
      Social Assistive Robots are a powerful tool to be used in patients’ cognitive training. The purpose of this study is to evaluate a new methodology to enable caregivers to teach cognitive exercises to the robot in an easy ...

    • On the application of CMA-ES to biped walk 

      Suárez Hernández, Alejandro; Miralles, Carles; Medina, Salvador (2017)
      Report de recerca
      Accés obert
      This project studies the applicability of Covariance Matrix Adaptation Evolution Strategies to enable a biped robot to walk with no previous knowledge. While most work on the subject is based on Genetic Algorithms, we ...

    • Online action recognition 

      Suárez Hernández, Alejandro; Segovia Aguas, Javier; Torras, Carme; Alenyà Ribas, Guillem (AAAI Press, 2021)
      Text en actes de congrés
      Accés obert
      Recognition in planning seeks to find agent intentions, goals or activities given a set of observations and a knowledge library (e.g. goal states, plans or domain theories). In this work we introduce the problem of Online ...

    • Practical resolution methods for MDPs in robotics exemplified with disassembly planning 

      Suárez Hernández, Alejandro; Torras, Carme; Alenyà Ribas, Guillem (Institute of Electrical and Electronics Engineers (IEEE), 2019-07-01)
      Article
      Accés obert
      In this paper we focus on finding practical resolution methods for Markov Decision Processes (MDPs) in robotics. Some of the main difficulties of applying MDPs to real-world robotics problems are: (1) having to deal with ...

    • Proactive learning of cognitive exercises with a social robot 

      Suárez Hernández, Alejandro; Andriella, Antonio; Alenyà Ribas, Guillem; Torras, Carme (2022-05-27)
      Report de recerca
      Accés obert
      We introduce INtuitive PROgramming 2 (INPRO2), an improvement over our previous INPRO framework for learning board exercises via demonstrations. INPRO2 makes use of our Online Action Recognition through Unification (OARU) ...

    • STRIPS action discovery 

      Suárez Hernández, Alejandro; Segovia Aguas, Javier; Torras, Carme; Alenyà Ribas, Guillem (2020)
      Text en actes de congrés
      Accés obert
      The problem of specifying high-level knowledge bases for planning becomes a hard task in realistic environments. This knowledge is usually handcrafted and is hard to keep updated, even for system experts. Recent approaches ...

    • Towards effective planning strategies for robots in recycling 

      Suárez Hernández, Alejandro (Universitat Politècnica de Catalunya, 2018-06-27)
      Projecte Final de Màster Oficial
      Accés obert
      Realitzat a/amb:   Universitat de Barcelona. Facultat de Matemàtiques i Informàtica / Universitat Rovira i Virgili. Escola Tècnica Superior d'Enginyeria
      This work presents several ideas for planning under uncertainty. We seek to recycle electromechanical devices with a robotic arm. We resort to the Markov Decision Process formulation. In order to avoid scalability issues, ...