Skill Acquisition in Humans and Robots

Real-Time Motion Planning for In-Hand Manipulation with a Multi-Fingered Hand

Author(s): Xiao Gao, Kunpeng Yao, Farshad Khadivar, Aude Billard
Published in: arXiv, Issue 2309.06955v1, 2023
Publisher: arXiv
DOI: 10.48550/arxiv.2309.06955

Enhancing Dexterity In Confined Spaces: Real-Time Motion Planning for Multi-Fingered In-Hand Manipulation

Author(s): Gao, X., Yao, K., Khadivar, F., Billard, A.
Published in: 2024
Publisher: UNDER REVIEW
DOI: 10.48550/arXiv.2309.06955

Action Contextualization: Adaptive Task Planning and Action Tuning using Large Language Models

Author(s): Sthithpragya Gupta, Kunpeng Yao, Loïc Niederhauser, Aude Billard
Published in: arXiv, Issue 2404.13191, 2024
Publisher: Cornell University
DOI: 10.48550/arxiv.2404.13191

Reactive Collision-Free Motion Generation in Joint Space via Dynamical Systems and Sampling-Based MPC

Author(s): Koptev, Mikhail
Published in: Zenodo, Issue 8387198, 2023
Publisher: Zenodo
DOI: 10.5281/zenodo.8387198

Spring Assembly Experiment Dataset

Author(s): Yao, Kunpeng
Published in: Zenodo, Issue 3923804, 2019
Publisher: Zenodo
DOI: 10.5281/zenodo.3923804

Neural Joint Space Implicit Signed Distance Functions

Author(s): Koptev, Mikhail
Published in: Zenodo, Issue 8387165, 2022
Publisher: Zenodo
DOI: 10.5281/zenodo.8387164

Learning Dynamical Systems Encoding Non-Linearity within Space Curvature

Author(s): Bernardo Fichera; Aude Billard
Published in: arXiv, Issue 2403.11948, 2024
Publisher: Cornell University
DOI: 10.48550/arXiv.2403.11948

Differentiable Robot Neural Distance Function for Adaptive Grasp Synthesis on a Unified Robotic Arm-Hand System

Author(s): Yiting Chen, Xiao Gao, Kunpeng Yao, Loïc Niederhauser, Yasemin Bekiroglu, Aude Billard
Published in: arXiv, Issue 2309.16085, 2023
Publisher: arXiv
DOI: 10.48550/arxiv.2309.16085

iCub Joint Space Self-Collision Avoidance

Author(s): Koptev, M.
Published in: Zenodo, Issue 8387095, 2021
Publisher: Zenodo
DOI: 10.5281/zenodo.8387095

Unscrewing Experiment Dataset

Author(s): Yao, Kunpeng
Published in: Zenodo, Issue 3923806, 2020
Publisher: Zenodo
DOI: 10.5281/zenodo.3923806

Passive Obstacle Aware Control to Follow Desired Velocity

Author(s): Huber, Lukas ; Trinca, Thibaud ; Slotine, Jean-Jacques ; Billard, Aude
Published in: arXiv, 2024
Publisher: Cornell University
DOI: 10.48550/arxiv.2405.05669

Learning High Dimensional Demonstrations Using Laplacian Eigenmaps

Author(s): Sthithpragya Gupta, Aradhana Nayak, Aude Billard
Published in: arXiv, Issue 2207.08714, 2022
Publisher: Cornell University
DOI: 10.48550/arxiv.2207.08714

Fast Obstacle Avoidance Based on Real-Time Sensing

Author(s): Lukas Huber, Jean-Jacques Slotine, Aude Billard
Published in: IEEE Robotics and Automation Letters, Issue Volume 8, Issue 3, March 2023, 2023, Page(s) 1375 - 1382, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3232271

Learning dynamical systems with bifurcations

Author(s): Farshad Khadivar, Ilaria Lauzana and Aude Billard
Published in: Robotics and Autonomous Systems, Issue Volume 136, February 2021, 103700, 2020, Page(s) 1-9, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2020.103700

Inferring individual evaluation criteria for reaching trajectories with obstacle avoidance from EEG signals.

Author(s): F. Iwane, A. Billard & J.d.R. Millán
Published in: Nature Scientific Reports, Issue Article number: 20163 (2023), 2023, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-023-47136-2

Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects

Author(s): Kunpeng Yao; Aude Billard
Published in: IEEE Transactions on Robotics, Issue Volume: 39, Issue: 3, 2023, Page(s) 1982 - 2002, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3253249

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Author(s): Mikhail Koptev; Nadia Figueroa; Aude Billard
Published in: IEEE ROBOTICS AND AUTOMATION LETTERS, Issue VOL. 8, NO. 2, 2022, Page(s) 480-487, ISSN 2377-3774
Publisher: Electronic ISSN: 2377-3766
DOI: 10.1109/lra.2022.3227860

Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots

Author(s): Mikhail Koptev, Nadia Figueroa, Aude Billard
Published in: IEEE Robotics and Automation Letters, Issue 6/2, 2021, Page(s) 1240-1247, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3057024

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Author(s): Rui Wu, Aude Billard
Published in: IEEE/ASME Transactions on Mechatronics, 2021, Page(s) 1-12, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2021.3123356

Avoidance of Concave Obstacles through Rotation of Nonlinear Dynamics

Author(s): Lukas Huber, Jean-Jacques Slotine, Aude Billard
Published in: IEEE Transactions on Robotics, Issue 18 December 2023, 2023, Page(s) 1-20, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/tro.2023.3344034

Self-Correcting Quadratic Programming-Based Robot Control

Author(s): Farshad Khadivar; Konstantinos Chatzilygeroudis; Aude Billard
Published in: IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, ISSN 2168-2232
Publisher: IEEE
DOI: 10.1109/tsmc.2023.3262954

Avoiding Dense and Dynamic Obstacles in Enclosed Spaces: Application to Moving in Crowds

Author(s): Huber, Lukas; Slotine, Jean-Jacques; and Billard Aude
Published in: IEEE Transactions on Robotics, Issue 2 May 2022, 2022, Page(s) 1-10, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/tro.2022.3164789

Trends and challenges in robot manipulation

Author(s): Aude Billard, Danica Kragic
Published in: Science, Issue 364/6446, 2019, Page(s) eaat8414, ISSN 0036-8075
Publisher: American Association for the Advancement of Science
DOI: 10.1126/science.aat8414

An inverse optimization approach to understand human acquisition of kinematic coordination in bimanual fine manipulation tasks

Author(s): Kunpeng Yao, Aude Billard
Published in: Biological Cybernetics, Issue 114/1, 2020, Page(s) 63-82, ISSN 0340-1200
Publisher: Springer Verlag
DOI: 10.1007/s00422-019-00814-9

Benchmark for Bimanual Robotic Manipulation of Semi-Deformable Objects

Author(s): Konstantinos Chatzilygeroudis, Bernardo Fichera, Ilaria Lauzana, Fanjun Bu, Kunpeng Yao, Farshad Khadivar, Aude Billard
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 2443-2450, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2972837

Linearization and Identification of Multiple-Attractor Dynamical Systems through Laplacian Eigenmaps

Author(s): Bernardo Fichera, Aude Billard
Published in: Journal of Machine Learning Research, Issue 23(294), 2022, Page(s) 1−35, ISSN 1533-7928
Publisher: Microtome Publishing

Hand pose selection in a bimanual fine-manipulation task

Author(s): Kunpeng Yao; Dagmar Sternad; Aude Billard
Published in: J Neurophysiol, Issue 126, 2021, ISSN 1573-9007
Publisher: American Physiological Society
DOI: 10.1152/jn.00635.2020

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Author(s): Mikhail Koptev, Nadia Figueroa, and Aude Billard
Published in: SageJournals, 2024, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/02783649241246557

Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics

Author(s): Farshad Khadivar; Aude Billard
Published in: IEEE Transactions on Robotics, Issue Volume: 39, Issue: 5, October 2023, 2023, Page(s) 3350 - 3367, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3280028

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Author(s): Farshad Khadivar; Kunpeng Yao; Xiao Gao; Aude Billard
Published in: Elsevier Robotics And Autonomous Systems, Issue Volume 166, 2023, Page(s) 104461, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2023.104461

A Predictive Model for Tactile Force Estimation Using Audio-Tactile Data

Author(s): L. Niederhauser; A. Prabhakar; D. Reber; A.Billard
Published in: IEEE Robotics and Automation Letters, Issue February 2024 (Volume: 9, Issue: 2), 2023, Page(s) 1596 - 1603, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3340614

ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planning

Author(s): Zhou, Zhehua; Song, Jiayang;Yao, Kunpeng; Shu, Zhan; Ma, Lei
Published in: IEEE ICRA, 2024
Publisher: IEEE

Multilimb Coordination in Human Neuroscience and Robotics: Classical and Learning Perspectives

Author(s): Soheil Gholami, Kunpeng Yao, James Hermus, Etienne Burdet, Aude Billard
Published in: IEEE IROS, 2023
Publisher: IEEE

Towards understanding of human kinematic coordination patterns in bimanual fine manipulation tasks

Author(s): Kunpeng Yao, Anaïs Haget, Aude Billard
Published in: Progress in Motor Control XII: Movement Improvement, Issue 09.07.2019, 2019
Publisher: N/A

Force Synergies Within and Across the Two Hands in Bimanual Skill Acquisition

Author(s): Caroline Savio, Kunpeng Yao, Aude Billard
Published in: Neural Control of Movement 2022 Annual Meeting, Issue 29.07.2022, 2022
Publisher: Society for Neural Control of Movement

Dynamical system approach to navigation around obstacles

Author(s): Aradhana Nayak, Aude Billard
Published in: European Conference on Control, Issue June 2024, 2024
Publisher: ECC

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Author(s): Ferreira Duarte, Nuno Ricardo; Chatzilygeroudis, Konstantinos; Santos-Victor, José; Billard, Aude
Published in: 2020 Joint IEEE 10th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob), Issue Date of Conference: 26-30 October 2020, 2020, ISBN 978-1-7281-7306-1
Publisher: IEEE
DOI: 10.1109/icdl-epirob48136.2020.9278084

Implicit Manifold Gaussian Process Regression

Author(s): Fichera, Bernardo; Borovitskiy, Viacheslav; Krause, Andreas; Billard, Aude
Published in: Advances in Neural Information Processing Systems 36 (NeurIPS 2023), Issue 2310.19390, 2023
Publisher: Cornell University
DOI: 10.48550/arxiv.2310.19390

Effects of Task Conditions on Human Hand Pose Selection Strategies in a Bimanual Fine Manipulation Task

Author(s): Kunpeng Yao, Dagmar Sternad, Aude Billard
Published in: Neural Control of Movement 2022 Annual Meeting, Issue 26.07.2022, 2022
Publisher: Society for Neural Control of Movement

Effect of task conditions on human hand pose selection strategies in bimanual fine manipulation tasks

Author(s): Kunpeng Yao, Aude Billard
Published in: Workshop on Learning of Manual Skills in Humans and Robots. IEEE International Conference on Robotics and Automation (ICRA), Issue 31.05.2020, 2020
Publisher: IEEE International Conference on Robotics and Automation (ICRA)

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Author(s): Bernardo Fichera, Aude Billard
Published in: ISRR 2022, 2023, Page(s) SPAR,volume 2, pp 387–394, ISSN 2511-1256
Publisher: Springer Link
DOI: 10.1007/978-3-031-25555-7_26

On Force Synergies in Human Grasping Behavior

Author(s): Starke, J., Chatzilygeroudis, K., Billard, A., and Asfour T.
Published in: International Conference on Humanoid Robots 2019, Toronto Canada, 2019
Publisher: IEEE

Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators

Author(s): Farshad Khadivar, Sthithparagya Gupta, Walid Amanhoud, Aude Billard
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), Issue 30 May 2021 - 05 June 2021, 2021, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561587

A Unified Approach to Obstacle Avoidance and Motion Learning

Author(s): Huber, L, Slotine, J.-J., and Billard, A.
Published in: Workshop on Deployable Decision Making in Embodied Systems (DDM), 2021
Publisher: NeurIPS

Integrating Multisensory Information for Modeling Human Dexterous Bimanual Manipulation Skills

Author(s): Kunpeng Yao, Bernardo Fichera, Anaïs Haget, Ilaria Lauzana, Aude Billard
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems - Workshop: The Intelligence of Touch: Haptics, Tactile, Interaction., Issue 01.10.2018, 2018
Publisher: IEEE/RSJ

Enhancing our understanding of human fine manipulation skills and advancing robot dexterity in grasping

Author(s): Kunpeng Yao
Published in: Issue 04.02.2022, 2022
Publisher: EPFL

Implicit Distance Functions: Learning and Applications in Robotics

Author(s): Koptev, Mikhail; Billard, Aude
Published in: 2023
Publisher: EPFL
DOI: 10.5075/epfl-thesis-10197

Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation

Author(s): Khadivar, Farshad; Billard, Aude
Published in: 2022
Publisher: EPFL
DOI: 10.5075/epfl-thesis-9747

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Author(s): Huber, Lukas; Billard, Aude
Published in: 2024
Publisher: EPFL
DOI: 10.5075/epfl-thesis-10373

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