Reports de recerca
Recent Submissions
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Inside-out states of garments
(2024-02-28)
Research report
Open AccessCloth items such as garments can be potentially in infinite different configurations, due to their deformability. For the practical purposes of manipulation, however, it is possible to discretize the space of deformations ... -
Robots as mediators to resolve multi-user preference conflicts
(2024-08-26)
Research report / Conference report
Open AccessIn real-life scenarios, robots will have to make decisions that involve multiple users. The current literature does not consider scenarios where a robot interacts with users who have conflicting preferences. To address ... -
Proactive learning of cognitive exercises with a social robot
(2022-05-27)
Research report
Open AccessWe 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) ... -
Visual feedback for humans about robots' perception in collaborative environments
(2020-07-20)
Research report
Open AccessDuring the last years, major advances on artificial intelligence have successfully allowed robots to perceive their environment, which not only includes static but also dynamic objects such as humans. Indeed, robotic ... -
Corner detection of deformable fabric using deep learning
(2020)
Research report
Open AccessRobotic manipulation of deformable objects such as a towel is one of the most challenging tasks in the field of service robotics. Their unpredictable shape and pose makes it difficult to identify the most relevant parts ... -
Learning cloth manipulation with demonstrations
(2019)
Research report
Open AccessRecent advances in Deep Reinforcement learning and computational capabilities of GPUs have led to variety of research being conducted in the learning side of robotics. The main aim being that of making autonomous robots ... -
Robots and IoT devices for assistive automation
(2019)
Research report
Open AccessIn recent years, we live every day in an ever more connected world. This phenomenon has developed the technologies of the Internet of Things (IoT). At the same time, advances in robotics now make it possible to have ... -
Database for 3D human pose estimation from single depth images
(2016)
Research report
Open AccessThis work is part of the project I--DRESS (Assistive interactive robotic system for support in dressing). The specific objective is the detection of human body postures and the tracking of their movements. To this end, ... -
ROS wrapper for real-time multi-person pose estimation with a single camera
(2017)
Research report
Open AccessFor robots to be deployable in human occupied environments, the robots must have human-awareness and generate human-aware behaviors and policies. OpenPose is a library for real-time multi-person keypoint detection. We have ... -
Construcció i programació d'un cap robòtic
(2016)
Research report
Open AccessAquest projecte ha estat desenvolupat durant l'estada a l'empresa de primer de batxillerat. Va ser dut a terme al laboratori de Percepció i Manipulació de l'IRI (Institut de Robòtica i Informàtica Industrial) i proposat i ... -
Grasping novel objects
(2016)
Research report
Open AccessThe work explained in this technical report is about evaluating some recent algorithms to grasp unforeseen objects for table clearance tasks. A tabletop object segmentation algorithm is proposed, and two recently published ... -
Staübli work-cell: general description and operation
(2015)
Research report
Open AccessThis technical report provides all the information necessary to operate all the elements that integrate the Staübli work-cell at the perception and manipulation laboratory at IRI. A detailed description of each of the ...
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