Enviaments recents

  • Teaching a robot the semantics of assembly tasks 

    Savarimuthu, Thiusius Rajeeth; Anders, Buch; Schlette, Christian; Wantia, Nils; Rossmann, Jürgen; Martinez Martinez, David; Alenyà Ribas, Guillem; Torras, Carme; Ales, Ude; Bojan, Nemec; Aljaž, Kramberger; Worgotter, Florentin; Eren Erdal, Aksoy; Papon, Jeremie; Haller, Simon; Piater, Justus; Krüger, Norbert (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Article
    Accés obert
    We present a three-level cognitive system in a learning by demonstration context. The system allows for learn- ing and transfer on the sensorimotor level as well as the planning level. The fundamentally different data ...
  • A scalable, efficient, and accurate solution to non-rigid structure from motion 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc (2018)
    Article
    Accés obert
    Most Non-Rigid Structure from Motion (NRSfM) solutions are based on factorization approaches that allow reconstructing objects parameterized by a sparse set of 3D points. These solutions, however, are low resolution and ...
  • Robot motion adaptation through user intervention and reinforcement learning 

    Jevtic, Aleksandar; Colomé Figueras, Adrià; Alenyà Ribas, Guillem; Torras, Carme (Elsevier, 2018-04-01)
    Article
    Accés obert
    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 ...
  • Task-driven active sensing framework applied to leaf probing 

    Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (2018-04-01)
    Article
    Accés obert
    This article presents a new method for actively exploring a 3D workspace with the aim of localizing relevant regions for a given task. Our method encodes the exploration route in a multi-layer occupancy grid map. This map, ...
  • Teaching robot's proactive behavior using human assistance 

    Garrell Zulueta, Anais; Villamizar Vergel, Michael Alejandro; Moreno-Noguer, Francesc; Sanfeliu Cortés, Alberto (2017-04-01)
    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 ...
  • 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
    Accés obert
    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 ...
  • Active garment recognition and target grasping point detection using deep learning 

    Corona Puyane, Enric; Alenyà Ribas, Guillem; Gabas Nova, Antonio; Torras, Carme (2018-02-01)
    Article
    Accés obert
    Identification and bi-manual handling of deformable objects, like textiles, is one of the most challenging tasks in the field of industrial and service robotics. Their unpredictable shape and pose makes it very difficult ...
  • Learning depth-aware deep representations for robotic perception 

    Porzi, Lorenzo; Rota Bulò, Samuel; Peñate Sánchez, Adrián; Ricci, Elisa; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Article
    Accés obert
    Exploiting RGB-D data by means of Convolutional Neural Networks (CNNs) is at the core of a number of robotics applications, including object detection, scene semantic segmentation and grasping. Most existing approaches, ...
  • Boosted Random ferns for object detection 

    Villamizar Vergel, Michael Alejandro; Andrade-Cetto, Juan; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (2018-02-01)
    Article
    Accés obert
    In this paper we introduce the Boosted Random Ferns (BRFs) to rapidly build discriminative classifiers for learning and detecting object categories. At the core of our approach we use standard random ferns, but we introduce ...
  • TED: a tolerant edit distance for segmentation evaluation 

    Funke, Jan; Klein, J.; Moreno-Noguer, Francesc; Cardona, A.; Cook, Matthew (2017-02-15)
    Article
    Accés obert
    In this paper, we present a novel error measure to compare a computer-generated segmentation of images or volumes against ground truth. This measure, which we call Tolerant Edit Distance (TED), is motivated by two observations ...
  • A cognitive architecture for automatic gardening 

    Agostini, Alejandro Gabriel; Alenyà Ribas, Guillem; Fischbach, Andreas; Scharr, Hanno; Woergoetter, Florentin; Torras, Carme (2017-06-01)
    Article
    Accés obert
    In large industrial greenhouses, plants are usually treated following well established protocols for watering, nutrients, and shading/light. While this is practical for the automation of the process, it does not tap the ...
  • 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 ...

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