Recent Submissions

  • 3D Human pose, shape and texture from low-resolution images and videos 

    Xu, Xiangyu; Chen, Hao; Moreno-Noguer, Francesc; Jeni, Lázló; De La Torre, Fernando (2022)
    Article
    Open Access
    3D human pose and shape estimation from monocular images has been an active research area in computer vision. Existing deep learning methods for this task rely on high-resolution input, which however, is not always available ...
  • OCRA – An ontology for collaborative robotics and adaptation 

    Olivares Alarcos, Alberto; Foix Salmerón, Sergi; Borgo, Stefano; Alenyà Ribas, Guillem (2022)
    Article
    Open Access
    Industrial collaborative robots will be used in unstructured scenarios and a large variety of tasks in the near future. These robots shall collaborate with humans, who will add uncertainty and safety constraints to the ...
  • Unsupervised 3D reconstruction and grouping of rigid and non-rigid categories 

    Agudo Martínez, Antonio (2022)
    Article
    Open Access
    In this paper we present an approach to jointly recover camera pose, 3D shape, and object and deformation type grouping, from incomplete 2D annotations in a multi-instance collection of RGB images. Our approach is able to ...
  • An inextensible model for the robotic manipulation of textiles 

    Coltraro Ianniello, Franco; Amorós Torrent, Jaume; Alberich Carramiñana, Maria; Torras, Carme (2022-01-01)
    Article
    Open Access
    We introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of humans. This model treats textiles as surfaces ...
  • Hand-object interaction: from human demonstrations to robot manipulation 

    Carfi, Alessandro; Patten, Timothy; Kuang, Yingyi; Hammoud, Ali; Alameh, Mohamad; Maiettini, Elisa; Weinberg, Abraham Itzhak; Faria, Diego; Mastrogiovanni, Fulvio; Alenyà Ribas, Guillem; Natale, Lorenzo; Perdereau, Veronique; Vincze, Markus; Billard, Aude (Frontiers Media SA, 2021-10-01)
    Article
    Open Access
    Human-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills. It is, therefore, essential to study how humans ...
  • Dual-branch CNNs for vehicle detection and tracking on LiDAR data 

    Vaquero Gómez, Víctor; del Pino Bastida, Iván; Moreno-Noguer, Francesc; Solà Ortega, Joan; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan (2021-11-01)
    Article
    Open Access
    We present a novel vehicle detection and tracking system that works solely on 3D LiDAR information. Our approach segments vehicles using a dual-view representation of the 3D LiDAR point cloud on two independently trained ...
  • Simultaneous completion and spatiotemporal grouping of corrupted motion tracks 

    Agudo Martínez, Antonio; Lepetit, Vincent; Moreno-Noguer, Francesc (Springer Nature, 2021-07-19)
    Article
    Open Access
    Given an unordered list of 2D or 3D point trajectories corrupted by noise and partial observations, in this paper we introduce a framework to simultaneously recover the incomplete motion tracks and group the points into ...
  • Robust and adaptive door operation with a mobile robot 

    Arduengo García, Miguel; Torras, Carme; Sentis, Luis (Springer, 2021-05-18)
    Article
    Open Access
    The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. ...
  • Topological representation of cloth state for robot manipulation: deriving the configuration space of a rectangular cloth 

    Strazzeri, Fabio; Torras, Carme (Springer Nature, 2021)
    Article
    Open Access
    Forty years ago the notion of configuration space (C-space) revolutionised robot motion planning for rigid and articulated objects. Despite great progress, handling deformable materials has remained elusive because of their ...
  • A topological extension of movement primitives for curvature modulation and sampling of robot motion 

    Colomé Figueras, Adrià; Torras, Carme (Springer Nature, 2021)
    Article
    Open Access
    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 ...
  • Learning in autonomous and intelligent systems: Overview and biases from data sources 

    Jimenez Schlegl, Pablo (2022)
    Article
    Open Access
    Autonomous and Intelligent Systems (A/IS, to adhere to the terminology of the IEEE Ethically Aligned Design report) can gather their knowledge by different means and from different sources. In principle, learning algorithms ...
  • Are preferences useful for better assistance? A physically assistive robotics user study 

    Canal Camprodon, Gerard; Torras, Carme; Alenyà Ribas, Guillem (Association for Computing Machinery (ACM), 2021)
    Article
    Open Access
    Assistive Robots have an inherent need of adapting to the user they are assisting. This is crucial for the correct development of the task, user safety, and comfort. However, adaptation can be performed in several manners. ...

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