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. ...

We register close-range depth images of objects using a Swissranger sensor and apply a spring-mass model for 3D object reconstruction. The Swissranger sensor delivers depth images in real time which have, compared with ...

Manipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. ...

A 5-SPU robot with collinear universal joints is well suited to handling an axisymmetric tool, since it has 5 controllable DoFs and the remaining one is a free rotation around the tool. The kinematics of such a robot having ...

This work presents an intergated strategy for planning and learning suitable to execute tasks with robotic platforms without any previous task specification. The approach rapidly learns planning operators from few action ...

We introduce a novel approach to automatically recover 3D human pose from a single image. Most previous work follows a pipelined approach: initially, a set of 2D features such as edges, joints or silhouettes are detected ...

The rst part of the XX century saw the development of the digital computer and the eld of computer science. In the present paper, we sketch our vision of that period and of the role that Alan Turing and some of his ...

This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through ...

This paper proposes to enrich robot motion data with trajectory curvature information. To do so,we use an approximate implementation of a topological feature named writhe, which measures the curling of a closed curve around ...

Teaching complex manipulation skills, such as folding garments, to a bi-manual robot is a very challenging task, which is often tackled through learning from demonstration. The few datasets of garment-folding demonstrations ...