Publications

© Catherine Leutenegger / EPFL

© Catherine Leutenegger / EPFL

Publication database

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2023

Journal Articles

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

F. Iwane; A. Billard; J. d. R. Millan 

Scientific Reports. 2023-11-17. Vol. 13, num. 1, p. 20163. DOI : 10.1038/s41598-023-47136-2.

A structured prediction approach for robot imitation learning

A. Duan; I. Batzianoulis; R. Camoriano; L. Rosasco; D. Pucci et al. 

International Journal Of Robotics Research. 2023-11-01. Vol. 43, num. 2, p. 113-133. DOI : 10.1177/02783649231204656.

Motion Planning and Inertia Based Control for Impact Aware Manipulation

H. Khurana; A. Billard 

IEEE Transactions on Robotics. 2023-09-04. DOI : 10.1109/TRO.2023.3319895.

Inverse Reinforcement Learning of Pedestrian-Robot Coordination

D. Gonon; A. Billard 

Ieee Robotics And Automation Letters. 2023-08-01. Vol. 8, num. 8, p. 4815-4822. DOI : 10.1109/LRA.2023.3289770.

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

F. Khadivar; A. Billard 

Ieee Transactions On Robotics. 2023-06-07. DOI : 10.1109/TRO.2023.3280028.

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

F. Khadivar; K. Yao; X. Gao; A. Billard 

Robotics And Autonomous Systems. 2023-06-01. Vol. 166, p. 104461. DOI : 10.1016/j.robot.2023.104461.

Self-Correcting Quadratic Programming-Based Robot Control

F. Khadivar; K. Chatzilygeroudis; A. Billard 

IEEE Transactions on Systems, Man, and Cybernetics: Systems. 2023-04-14.  p. 1-12. DOI : 10.1109/TSMC.2023.3262954.

Bimanual dynamic grabbing and tossing of objects onto a moving target

M. Bombile; A. Billard 

Robotics and Autonomous Systems. 2023. Vol. Volume 167, num. 0921-8890, p. 104481. DOI : 10.1016/j.robot.2023.104481.

Conference Papers

Hybrid Quadratic Programming – Pullback Bundle Dynamical Systems Control

B. Fichera; A. Billard 

2023-01-01. 18th International Symposium of Robotics Research (ISRR), Geneva, SWITZERLAND, Sep 25-30, 2022. p. 387-394. DOI : 10.1007/978-3-031-25555-7_26.

Theses

Implicit Distance Functions: Learning and Applications in Robotics

M. Koptev / A. Billard (Dir.)  

Lausanne, EPFL, 2023. 

2022

Journal Articles

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

M. Koptev; N. Figueroa; A. Billard 

IEEE Robotics and Automation Letters. 2022-12-08. Vol. 8, num. 2, p. 480-487. DOI : 10.1109/LRA.2022.3227860.

EMG-driven shared human-robot compliant control for in-hand object manipulation in hand prostheses

F. Khadivar; V. Mendez; C. Correia; I. Batzianoulis; A. Billard et al. 

Journal Of Neural Engineering. 2022-12-01. Vol. 19, num. 6, p. 066024. DOI : 10.1088/1741-2552/aca35f.

The Gaze Dialogue Model: Nonverbal Communication in HHI and HRI

M. Rakovic; N. F. Duarte; J. Marques; A. Billard; J. Santos-Victor 

Ieee Transactions On Cybernetics. 2022-11-29. DOI : 10.1109/TCYB.2022.3222077.

Powerful 2D Soft Morphing Actuator Propels Giant Manta Ray Robot

Y. Sun; H. Feng; X. Liang; A. J. Y. Goh; P. Qi et al. 

Advanced Intelligent Systems. 2022-10-30. DOI : 10.1002/aisy.202200186.

Robots’ Motion Planning in Human Crowds by Acceleration Obstacles

D. J. Gonon; D. Paez-Granados; A. Billard 

Ieee Robotics And Automation Letters. 2022-10-01. Vol. 7, num. 4, p. 11236-11243. DOI : 10.1109/LRA.2022.3199818.

Mechanical intelligence for learning embodied sensor-object relationships

A. Prabhakar; T. Murphey 

Nature Communications. 2022-07-15. Vol. 13, num. 1, p. 4108. DOI : 10.1038/s41467-022-31795-2.

Conference Papers

Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics

D. F. Paez Granados; Y. He; D. J. Gonon; D. Jia; B. Leibe et al. 

2022-10-23. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 23-27, 2022. p. 149-156. DOI : 10.1109/IROS47612.2022.9981705.

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

C. Savio; K. Yao; A. Billard 

2022-07-29. Neural Control of Movement 2022 Annual Meeting, Dublin, Ireland, July 25-29, 2022.

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

K. Yao; D. Sternad; A. Billard 

2022-07-26. Neural Control of Movement 2022 Annual Meeting, Dublin, Ireland, July 25-29, 2022.

Posters

Implicit Distance Functions: Learning and Applications in Control

M. Koptev; N. B. Figueroa Fernandez; A. Billard 

International Conference on Robotics and Automation (ICRA 2022), Philadelphia (PA), USA, May 23-27, 2022.

2021

Journal Articles

Customizing skills for assistive robotic manipulators, an inverse reinforcement learning approach with error-related potentials

I. Batzianoulis; F. Iwane; S. Wei; C. G. P. R. Correia; R. Chavarriaga et al. 

Communications Biology. 2021-12-16. Vol. 4, num. 1, p. 1406. DOI : 10.1038/s42003-021-02891-8.

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

R. Wu; A. Billard 

IEEE/ASME Transactions on Mechatronics. 2021-11-17.  p. 1-12. DOI : 10.1109/TMECH.2021.3123356.

Hand-Object Interaction: From Human Demonstrations to Robot Manipulation

A. Carfi; T. Patten; Y. Kuang; A. Hammoud; M. Alameh et al. 

Frontiers In Robotics And Ai. 2021-10-01. Vol. 8, p. 714023. DOI : 10.3389/frobt.2021.714023.

Virtual Landmark-Based Control of Docking Support for Assistive Mobility Devices

C. Yang; D. F. Paez Granados; B. Leme; K. Suzuki 

IEEE/ASME Transactions on Mechatronics. 2021-08-01. Vol. 26, num. 4, p. 2007-2015. DOI : 10.1109/TMECH.2021.3081426.

Hand pose selection in a bimanual fine-manipulation task

K. Yao; D. Sternad; A. Billard 

Journal of Neurophysiology. 2021-07-06. Vol. 126, num. 1, p. 195-212. DOI : 10.1152/jn.00635.2020.

Design of Hesitation Gestures for Nonverbal Human-Robot Negotiation of Conflicts

A. Moon; M. Hashmi; H. F. M. Van der Loos; E. A. Croft; A. Billard 

Acm Transactions On Human-Robot Interaction. 2021-07-01. Vol. 10, num. 3, p. 24. DOI : 10.1145/3418302.

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

M. Koptev; N. Figueroa; A. Billard 

Ieee Robotics And Automation Letters. 2021-04-01. Vol. 6, num. 2, p. 1240-1247. DOI : 10.1109/LRA.2021.3057024.

Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape

D. J. Gonon; D. F. Paez Granados; A. Billard 

IEEE Robotics and Automation Letters. 2021-03-24. Vol. 6, num. 3, p. 4728-4735. DOI : 10.1109/LRA.2021.3068660.

Conference Papers

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

D. F. Paez Granados; G. Vaibhav; A. Billard 

2021-07-13. Robotics Science and Systems (RSS-2021) – Workshop on Social Robot Navigation, Virtual Conference, July 12-16, 2021. p. 1-4.

Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd

F. Grzeskowiak; D. J. Gonon; D. Dugas; D. F. Paez Granados; J. J. Chung et al. 

2021-05-30. 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 30 May-5 June 2021. DOI : 10.1109/ICRA48506.2021.9561694.

2020

Journal Articles

A dynamical system approach for detection and reaction to human guidance in physical human-robot interaction

M. Khoramshahi; A. Billard 

Autonomous Robots. 2020-07-26. Vol. 44, p. 1411–1429. DOI : 10.1007/s10514-020-09934-9.

Intent Prediction Based on Biomechanical Coordination of EMG and Vision-Filtered Gaze for End-Point Control of an Arm Prosthesis

N. E. Krausz; D. Lammote; I. Batzianoulis; L. Hargrove; S. Micera et al. 

IEEE Transactions on Neural Systems and Rehabilitation Engineering. 2020-05-06. Vol. 28, num. 6, p. 1471-1480. DOI : 10.1109/TNSRE.2020.2992885.

Conference Papers

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

N. R. Ferreira Duarte; K. Chatzilygeroudis; J. Santos-Victor; A. Billard 

2020-10-26. 10Th Ieee International Conference On Development And Learning And Epigenetic Robotics (Icdl-Epirob 2020), Valparaiso, Chile (virtual conference), Octobre 26-30, 2020. DOI : 10.1109/ICDL-EpiRob48136.2020.9278084.

Control Interface for Hands-free Navigation of Standing Mobility Vehicles based on Upper-Body Natural Movements

C. Yang; D. F. Paez Granados; H. Kadone; K. Suzuki 

2020-10-24. IEEE International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, 24 Oct.-24 Jan. 2021. p. 11322-11329. DOI : 10.1109/IROS45743.2020.9340875.

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

N. B. Figueroa Fernandez; S. Faraji; M. Koptev; A. Billard 

2020-06-01. 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 31 May – 31 August 2020. p. 7676-7682. DOI : 10.1109/ICRA40945.2020.9197038.

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

M. Khoramshahi; K. G. Henriks; A. C. Naef; S. S. Mirrazavi Salehian; J. Kim et al. 

2020-05-31. International Conference on Robotics and Automation, Paris, France, Virtual Conference, May 31-June 4, 2020. p. 4724-4730. DOI : 10.1109/ICRA40945.2020.9196593.

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

 

2020-04-27. Neural Control of Movement 2022 Annual Meeting, Dubrovnik, Croatia, April 27 – May 1, 2020.

Talks

Materializing Personal Standing Mobility from Design to Shared Control

D. F. Paez Granados; A. Billard; K. Suzuki 

CYBATHLON Symposium 2020, Virtual, Septembre 17, 2020.

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

K. Yao; A. Billard 

International Conference on Robotics and Automation – Workshop on Learning of Manual Skills in Humans and Robots (ICRA2020), Paris, France, May 31, 2020 – Aug 31, 2020.

Datasets

Unscrewing Experiment Dataset

K. Yao 

2020-05-28.

2019

Journal Articles

Shared human–robot proportional control of a dexterous myoelectric prosthesis

K. Z. Zhuang; N. Sommer; V. Mendez; S. Aryan; E. Formento et al. 

Nature Machine Intelligence. 2019-09-11. Vol. 1, num. 9, p. 400-411. DOI : 10.1038/s42256-019-0093-5.

Avoidance of Convex and Concave Obstacles with Convergence ensured through Contraction

L. Huber; A. Billard; J-J. Slotine 

IEEE Robotics and Automation Letters. 2019-07-17. Vol. 4, num. 2, p. 1462-1469. DOI : 10.1109/LRA.2019.2893676.

Conference Papers

On Force Synergies in Human Grasping Behavior

J. Starke; K. Chatzilygeroudis; A. Billard; T. Asfour 

2019-10-15. IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Toronto, Canada, October 15-17, 2019. p. 72-78. DOI : 10.1109/Humanoids43949.2019.9035047.

Four-Arm Manipulation via Feet Interfaces

J. Hernandez Sanchez; W. Amanhoud; A. B. Haget; H. Bleuler; A. Billard et al. 

2019-09-11. Fall Symposium Series of the Association for Advancement of Artificial Intelligence, Arlington, Virginia, USA, November 7-9, 2019. p. AI-HRI/2019/12.

Reach-to-grasp motions: Towards a dynamic classification approach for upper-limp prosthesis

I. Batzianoulis; A. Simon; L. Hargrove; A. Billard 

2019-03-25. 2019 9th International IEEE/EMBS Conference on Neural Engineering (NER), San Francisco, California, USA, 20-23 March 2019. p. 287-290. DOI : 10.1109/NER.2019.8717110.

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

W. Amanhoud; M. Khoramshahi; A. Billard 

2019-01-01. 15th Conference on Robotics – Science and Systems, Freiburg im Breisgau, GERMANY, Jun 22-26, 2019.

Posters

Towards Understanding of Human Kinematic Coordination Patterns in Bimanual Fine Manipulation Tasks

K. Yao; A. B. Haget; A. Billard 

Progress in Motor Control XII: Movement Improvement, Amsterdam, Netherlands, July 7-10, 2019.

Reactive Motion Planning for Human-Robot Cooperative Tasks Under Uncertainties

M. Khoramshahi; Y. Zhou; J. Gao; M. Watcher; T. Asfour et al. 

RSS Workshop on Robust Task and Motion Planning, Freiburg, Germany, Sunday, June 23, 2019.

Student Projects

Inferring Assembly Objects and Sequences from Demonstrations

M. Nobar 

2019-06-11.

Datasets

Spring Assembly Experiment Dataset

K. Yao 

2019-05-21.

2018

Journal Articles

Social babbling: The emergence of symbolic gestures and words

L. Cohen; A. Billard 

Neural Networks. 2018-10-01. Vol. 106, p. 194-204. DOI : 10.1016/j.neunet.2018.06.016.

Learning Augmented Joint-Space Task-Oriented Dynamical Systems:A Linear Parameter Varying and Synergetic Control Approach

Y. Shavit; N. B. Figueroa Fernandez; S. S. Mirrazavi Salehian; A. Billard 

IEEE Robotics and Automation Letters (RA-L). 2018-05-06. Vol. 3, num. 3, p. 2718-2725. DOI : 10.1109/LRA.2018.2833497.

Conference Papers

Stable Transitions from Free-space to Contact: A Dynamical System Based Approach

S. S. Mirrazavi Salehian; A. Billard 

2018-09-04. International Conference on Intelligent Robots and Systems, Madrid,

From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems

M. Khoramshahi; A. Laurens; T. Triquet; A. Billard 

2018-06-29. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, October 1-5, 2018. p. 1361-1366. DOI : 10.1109/IROS.2018.8594366.

Modeling Compositions of Impedance-based Primitives via Dynamical Systems.

N. B. Figueroa Fernandez; A. Billard 

2018-05-28. 

Multi-Arm Self-Collision Avoidance: A Sparse Solution for a Big Data Problem.

N. B. Figueroa Fernandez; S. S. Mirrazavi Salehian; A. Billard; N. B. Figueroa Fernandez; S. S. Mirrazavi Salehian et al. 

2018-05-28. 

Theses

Compliant control of Uni/ Multi- robotic arms with dynamical systems

S. S. Mirrazavi Salehian / A. Billard (Dir.)  

EPFL, 2018-05-14. 

Working Papers

Transitioning with confidence during contact/non-contact scenarios

S. S. Mirrazavi Salehian; H-C. Lin; N. B. Figueroa Fernandez; J. Smith; M. Mistry et al. 

2018-10-05

Posters

Intention-based motion adaptation using dynamical systems with human in the loop

M. Khoramshahi; A. Billard 

IROS 2018 Workshop Machine Learning in Robot Motion Planning, Madrid, Spain, October 5th.

Talks

Integrating Multisensory Information for Modeling Human Dexterous Bimanual Manipulation Skills

K. Yao; B. Fichera; A. B. Haget; I. Lauzana; A. Billard 

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018.

2017

Journal Articles

Unravelling socio-motor biomarkers in schizophrenia

P. Slowinski; F. Alderisio; C. Zhai; Y. Shen; P. Tino et al. 

Npj Schizophrenia. 2017. Vol. 3, p. 8. DOI : 10.1038/s41537-016-0009-x.

Influence of Facial Feedback and Mind Perception During a Cooperative Human-Robot Task in Schizophrenia

L. Cohen; M. Khoramshahi; R. N. Salesse; C. Bortolon; P. Słowiński et al. 

Scientific Reports. 2017. Vol. 7, p. 15023. DOI : 10.1038/s41598-017-14773-3.

Learning motions from demonstrations and rewards with time-invariant dynamical systems based policies

J. Rey; K. Kronander; F. Farshidian; J. Buchli; A. Billard 

Autonomous Robots. 2017. Vol. 42, num. 1, p. 45-64. DOI : 10.1007/s10514-017-9636-y.

EMG-based decoding of grasp gestures in reaching-to-grasping motions

I. Batzianoulis; S. El Khoury; E. Pirondini; M. Coscia; S. Micera et al. 

Robotics and Autonomous Systems. 2017. Vol. 91, p. 59-70. DOI : 10.1016/j.robot.2016.12.014.

Conference Papers

Capture-Point Based Balance and Reactive Omnidirectional Walking Controller

M. Bombile; A. Billard 

2017. IEEE RAS International Conference on Humanoid Robots, Birmingham, UK, November 15-17, 2017. p. 17-24. DOI : 10.1109/HUMANOIDS.2017.8239532.

Learning Stable Task Sequences from Demonstration with Linear Parameter Varying Systems and Hidden Markov Models

J. R. Medina; A. Billard 

2017. robot-learning, Mountain View, California, November 13 – 15, 2017. p. 175-184.

Learning Externally Modulated Dynamical Systems

N. Sommer; K. Kronander; A. Billard 

2017. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, September, 24-28. p. 3956-3963. DOI : 10.1109/IROS.2017.8206248.

Dynamical System-based Motion Planning for Multi-Arm Systems: Reaching for moving objects

S. S. Mirrazavi Salehian; N. B. Figueroa Fernandez; A. Billard 

2017. International Joint Conference on Artificial Intelligence, Melbourne, Australia, August 19-25, 2017. p. 4914–4918.

Theses

Multi-contact tactile exploration and interaction with unknown objects

N. Sommer / A. Billard (Dir.)  

Lausanne, EPFL, 2017. 

Posters

Effects of Facial Emotions on Social-motor Coordination in Schizophrenia

L. Cohen; M. Khoramshahi; R. Salesse; C. Bortolon; P. Slowinski et al. 

7th Joint Action Meeting, London, UK, July 22-25, 2017.

2016

Journal Articles

Stability Considerations for Variable Impedance Control

K. Kronander; A. Billard 

IEEE Transactions on Robotics. 2016. Vol. 32, num. 5, p. 1298-1305. DOI : 10.1109/Tro.2016.2593492.

Robotic Assistance by Impedance Compensation for Hand Movements While Manual Welding

M. S. Erden; A. Billard 

IEEE Transactions on Cybernetics. 2016. Vol. 46, num. 11, p. 2459-2472. DOI : 10.1109/Tcyb.2015.2478656.

Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation

K. Hang; M. Li; J. A. Stork; Y. Bekiroglu; F. T. Pokorny et al. 

Ieee Transactions On Robotics. 2016. Vol. 32, num. 4, p. 960-972. DOI : 10.1109/Tro.2016.2588879.

Conference Papers

Open Robotics Research Using Web-based Knowledge Services

M. Beetz; D. Bessler; J. Winkler; J-H. Worch; F. Balint-Benczedi et al. 

2016. IEEE International Conference on Robotics and Automation (ICRA), Royal Inst Technol, Ctr Autonomous Syst, Stockholm, SWEDEN, MAY 16-21, 2016. p. 5380-5387. DOI : 10.1109/ICRA.2016.7487749.

On the Evolution of Fingertip Grasping Manifolds

K. Hang; J. A. Haustein; M. Li; A. Billard; C. Smith et al. 

2016. IEEE International Conference on Robotics and Automation (ICRA), Royal Inst Technol, Ctr Autonomous Syst, Stockholm, SWEDEN, MAY 16-21, 2016. p. 2022-2029. DOI : 10.1109/ICRA.2016.7487349.

Influence of Saliency and Social Impairments on the Development of Intention Recognition

L. Cohen; A. Billard 

2016. 25th International Conference on Artificial Neural Networks (ICANN), Barcelona, SPAIN, SEP 06-09, 2016. p. 205-213. DOI : 10.1007/978-3-319-44778-0_24.

Towards Reproducing Humans’ Exquisite Dexterity and Reactivity

A. G. Billard 

2016. 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Christchurch, NEW ZEALAND, MAR 07-10, 2016. p. 99-99. DOI : 10.1109/HRI.2016.7451739.

Learning Complex Sequential Tasks from Demonstration: A Pizza Dough Rolling Case Study

N. Figueroa; A. L. P. Ureche; A. Billard 

2016. 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Christchurch, New Zealand, p. 611-612. DOI : 10.1109/HRI.2016.7451881.

Theses

Learning Search Strategies from Human Demonstrations

G. P. L. De Chambrier / A. Billard (Dir.)  

Lausanne, EPFL, 2016. 

Book Chapters

Learning From Humans

A. G. Billard; S. Calinon; R. Dillmann 

Springer Handbook of robotics; Secaucus, NJ, USA: Springer, 2016. p. 1995-2014.

2015

Journal Articles

Task Parameterization Using Continuous Constraints Extracted From Human Demonstrations

L. Ureche; K. Umezawa; Y. Nakamura; A. Billard 

IEEE Transactions on Robotics. 2015. Vol. 31, num. 6, p. 1458-1471. DOI : 10.1109/TRO.2015.2495003.

Recognizing the grasp intention from human demonstration

R. De Souza; S. El-Khoury; J. Santos-Victor; A. Billard 

Robotics and Autonomous Systems. 2015. Vol. 74, p. 108-121. DOI : 10.1016/j.robot.2015.07.006.

Robotic training for hand movements during manual welding with real-time alarm feedback

M. S. Erden; A. Billard 

Industrial Robot-An International Journal. 2015. Vol. 42, num. 6, p. 554-564. DOI : 10.1108/Ir-04-2015-0083.

A Modular Approach to Learning Manipulation Strategies from Human Demonstration

B. Huang; M. Li; R. L. De Souza; J. J. Bryson; A. Billard 

Autonomous Robots. 2015.  p. 1-25. DOI : 10.​1007/​s10514-015-9501-9.

End-Point Impedance Measurements Across Dominant and Nondominant Hands and Robotic Assistance with Directional Damping

M. S. Erden; A. Billard 

IEEE Transactions on Cybernetics. 2015. Vol. 45, num. 6, p. 1146-1157. DOI : 10.1109/TCYB.2014.2346021.

Motor-Primed Visual Attention for Humanoid Robots

L. Lukic; A. Billard; J. Santos-Victor 

Ieee Transactions On Autonomous Mental Development. 2015. Vol. 7, num. 2, p. 76-91. DOI : 10.1109/Tamd.2015.2417353.

Incremental motion learning with locally modulated dynamical systems

K. Kronander; M. Khansari; A. Billard 

Robotics And Autonomous Systems. 2015. Vol. 70, p. 52-62. DOI : 10.1016/j.robot.2015.03.010.

Conference Papers

EMG-Based Analysis of the Upper Limb Motion

I. Batzianoulis; S. El-Khoury; S. Micera; A. Billard 

2015. 10nth ACM/IEEE International Conference on Human Robot Interaction, Portland, Oregon, USA, March 2-5, 2015. p. 49-50. DOI : 10.1145/2701973.2701997.

Theses

Visuomotor Coordination in Reach-To-Grasp Tasks: From Humans to Humanoids and Vice Versa

L. Lukic / A. Billard; J. Santos-Victor (Dir.)  

Lausanne, EPFL, 2015. 

Posters

Bidirectional Learning of Handwriting Skill in Human-Robot Interaction

H. Yin; A. Billard; A. Paiva 

10th ACM/IEEE International Conference on Human-Robot Interaction, Portland, Oregon, USA, March 2-5, 2015.

2014

Journal Articles

Learning Compliant Manipulation through Kinesthetic and Tactile Human-Robot Interaction

K. Kronander; A. Billard 

Ieee Transactions On Haptics. 2014. Vol. 7, num. 3, p. 367-380. DOI : 10.1109/Toh.2013.54.

A Wearable Camera Detects Gaze Peculiarities during Social Interactions in Young Children with Pervasive Developmental Disorders

S. Magrelli; B. Noris; P. Jermann; F. Ansermet; F. Hentsch et al. 

Ieee Transactions On Autonomous Mental Development. 2014. Vol. 6, num. 4, p. 274-285. DOI : 10.1109/Tamd.2014.2327812.

Learning search polices from humans in a partially observable context

G. P. L. De Chambrier; A. Billard 

Robotics and Biomimetics. 2014. Vol. 1, num. 1, p. 8. DOI : 10.1186/s40638-014-0008-1.

Conference Papers

Learning Cost Function and Trajectory for Robotic Writing Motion

H. Yin; A. Paiva; A. Billard 

2014. IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, November 18-20, 2014. p. 608-615. DOI : 10.1109/HUMANOIDS.2014.7041425.

Stretchable capacitive tactile skin on humanoid robot fingers – first experiments and results

A. P. Gerratt; N. Sommer; S. Lacour; A. Billard 

2014. 2014 IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, November 18-20th 2014. p. 238-245. DOI : 10.1109/HUMANOIDS.2014.7041366.

End-point Impedance Measurements at Human Hand during Interactive Manual Welding with Robot

M. S. Erden; A. Billard 

2014. 2014 IEEE International Conference on Robotics & Automation (ICRA), Hong Kong, China, May 31 – June 7, 2014. p. 126-133. DOI : 10.1109/ICRA.2014.6906599.

Cognitive mechanism in synchronized motion: An internal predictive model for manual tracking control

M. Khoramshahi; A. Shukla; A. Billard 

2014. The 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC2014), San Diego, USA, October 5-8, 2014. p. 765-771. DOI : 10.1109/SMC.2014.6974003.

Learning of Grasp Adaptation through Experience and Tactile Sensing

M. Li; Y. Bekiroglu; D. Kragic; A. Billard 

2014. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois,USA, Sept. 14–18, 2014. p. 3339-3346. DOI : 10.1109/IROS.2014.6943027.

Theses

Learning Reach-to-Grasp Motions From Human Demonstrations

A. Shukla / A. Billard (Dir.)  

Lausanne, EPFL, 2014. 

Talks

Tactile exploration with the iCub robot

N. Sommer; A. Billard 

iCub and friends Workshop, ICRA 2014, Hong Kong, China, May 31 – June 7, 2014.

2013

Journal Articles

Emotional Postures for the Humanoid-Robot Nao

M. S. Erden 

International Journal of Social Robotics. 2013. Vol. 5, p. 441-456. DOI : 10.1007/s12369-013-0200-4.

Social orienting of children with autism to facial expressions and speech: a study with a wearable eye-tracker in naturalistic settings

S. Magrelli; P. Jermann; B. Noris; F. Ansermet; F. Hentsch et al. 

Frontiers In Psychology. 2013. Vol. 4, p. 840. DOI : 10.3389/fpsyg.2013.00840.

Assessing Interaction Dynamics in the Context of Robot Programming by Demonstration

A. L. Pais; B. D. Argall; A. G. Billard 

International Journal of Social Robotics. 2013. Vol. 5, num. 4, p. 477-490. DOI : 10.1007/s12369-013-0204-0.

Using a head-mounted camera to infer attention direction

C. Schmitow; G. Stenberg; A. Billard; C. Von Hofsten 

International Journal Of Behavioral Development. 2013. Vol. 37, num. 5, p. 468-474. DOI : 10.1177/0165025413495749.

Autonomous reinforcement learning with experience replay

P. Wawrzynski; A. K. Tanwani 

Neural Networks. 2013. Vol. 41, p. 156-167. DOI : 10.1016/j.neunet.2012.11.007.

On the Generation of a Variety of Grasps

S. El Khoury; M. Li; A. Billard 

Robotics and Autonomous Systems. 2013. Vol. 61, num. 12, p. 1335-1349. DOI : 10.1016/j.robot.2013.08.002.

Conference Papers

Learning search behaviour from humans

D. Chambrier; G. P. Luc; A. Billard 

2013. Robotics and Biomimetics, Shenzhen, China, December 12-14, 2013. p. 573-580. DOI : 10.1109/ROBIO.2013.6739521.

Learning from Failed Demonstrations in Unreliable Systems

A. Rai; G. de Chambrier; A. Billard 

2013. Humanoids 2013, Atlanta, Georgia, USA, October 15-17,2013.

Modulating Vision with Motor Plans: A Biologically-inspired Efficient Allocation of Visual Resources

L. Lukic; A. Billard; J. Santos-Victor 

2013. IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS’2013, Atlanta, USA, October 15-17, 2013. p. 161-168. DOI : 10.1109/HUMANOIDS.2013.7029971.

Transfer in Inverse Reinforcement Learning for Multiple Strategies

A. K. Tanwani; A. Billard 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3-8, 2013. p. 3244-3250. DOI : 10.1109/IROS.2013.6696817.

2012

Journal Articles

Robot Learning from Failed Demonstrations

D. H. Grollman; A. G. Billard 

International Journal of Social Robotics. 2012. Vol. 4, p. 331-342. DOI : 10.1007/s12369-012-0161-z.

Estimating the non-linear dynamics of free-flying objects

S. Kim; A. Billard 

Robotics And Autonomous Systems. 2012. Vol. 60, num. 9, p. 1108-1122. DOI : 10.1016/j.robot.2012.05.022.

Investigating Gaze of Children with ASD in Naturalistic Settings

B. Noris; J. Nadel; M. Barker; N. Hadjikhani; A. Billard 

Plos One. 2012. Vol. 7, num. 9, p. e44144. DOI : 10.1371/journal.pone.0044144.

Conference Papers

Probabilistic Depth Image Registration incorporating Nonvisual Information

M. Wuethrich; P. Pastor; L. Righetti; A. Billard; S. Schaal 

2012. IEEE International Conference on Robotics and Automation (ICRA). p. 3637-3644. DOI : 10.1109/ICRA.2012.6225179.

Reaching and grasping kitchenware objects

R. Figueiredo; A. Shukla; D. Aragao; P. Moreno; A. Bernardino et al. 

2012. International Symposium on System Integration, Fukuoka, Japan, December 16-18, 2012. p. 865-870. DOI : 10.1109/SII.2012.6426944.

Learning Coupled Dynamical Systems from Human Demonstration for Robotic Eye-Arm-Hand Coordination

L. Lukic; J. Santos-Victor; A. Billard 

2012. IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, November 29-December 1, 2012. p. 552-559. DOI : 10.1109/HUMANOIDS.2012.6651574.

Face classification using touch with a humanoid robot hand

N. Sommer; A. Billard 

2012. 2012 IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, 29.11-01-12,2012. p. 120-125. DOI : 10.1109/HUMANOIDS.2012.6651508.

Theses

A Dynamical System-based Approach to Modeling Stable Robot Control Policies via Imitation Learning

K. Zadeh; S. Mohammad / A. Billard (Dir.)  

Lausanne, EPFL, 2012. 

Posters

Realtime Avoidance of Fast Moving Objects: A Dynamical System-based Approach

S. M. Khansari-Zadeh; A. Billard 

Electronic proc. of the Workshop on Robot Motion Planning: Online, Reactive, and in Real-Time [IROS’2012], 2012.

Talks

Face Classification using Touch with a Humanoid Robot

N. Sommer; A. Billard 

Second Workshop on Advances in tactile sensing and touch-based human-robot interaction, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012.

2011

Journal Articles

Learning Stable Non-Linear Dynamical Systems with Gaussian Mixture Models

S. M. Khansari-Zadeh; A. Billard 

IEEE Transactions on Robotics. 2011. Vol. 27, num. 5, p. 943-957. DOI : 10.1109/TRO.2011.2159412.

Conference Papers

Measuring Gaze of Children with Autism Spectrum Disorders in Naturalistic Interactions

B. Noris; M. Barker; J. Nadel; F. Hentsch; F. Ansermet et al. 

2011. 33rd Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBS), Boston, MA, Aug 30-Sep 03, 2011. p. 5356-5359. DOI : 10.1109/IEMBS.2011.6091325.

Learning to Control Planar Hitting Motions in a Monigolf-like Task

K. Kronander; S. M. Khansari-Zadeh; A. Billard 

2011. The 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, September 25-30, 2011. DOI : 10.1109/IROS.2011.6094402.

Coupled dynamical system based hand-arm grasp planning under real-time perturbations

A. Shukla; A. Billard 

2011. Robotics: Science and Systems, Los Angeles, CA, USA, June 26 – July 1, 2011. p. 313.

Donut as I do: Learning from Failed Demonstrations

D. Grollman; A. Billard 

2011. IEEE International Conference on Robotics and Automation, Shanghai, May 9-13. p. 3804-3809. DOI : 10.1109/ICRA.2011.5979757.

Motion Learning and Adaptive Impedance for Robot Control during Physical Interaction with Humans

E. Gribovskaya; A. Kheddar; A. Billard 

2011. International Conferece on Robotics and Automation. p. 4326-4332. DOI : 10.1109/ICRA.2011.5980070.

Theses

Machine Vision-Based Analysis of Gaze and Visual Context

B. Noris / A. Billard (Dir.)  

Lausanne, EPFL, 2011. 

Reports

The derivatives of the SEDS optimization cost function and constraints with respect to the learning parameters

S. M. Khansari-Zadeh; A. Billard 

2011

Posters

Learning to Play Mini-Golf from Human Demonstration using Autonomous Dynamical Systems

S. M. Khansari-Zadeh; A. Billard 

International Conference on Machine Learning (ICML), Seattle, USA, June 28 – July 2.

Patents

Wearable systems for audio, visual and gaze monitoring

A. Billard; B. Noris; J-b. Keller 

US2012314045; EP2470061; WO2011024134.

2011.

2010

Journal Articles

Tactile Guidance for Policy Adaptation

B. D. Argall; E. Sauser; A. Billard 

Foundations and Trends in Robotics. 2010. Vol. 1, num. 2, p. 79-133. DOI : 10.1561/2300000012.

Roombots: Reconfigurable Robots for Adaptive Furniture

A. Spröwitz; S. Pouya; S. Bonardi; J. van den Kieboom; R. Möckel et al. 

IEEE Computational Intelligence Magazine. 2010. Vol. 5, num. 3, p. 20-32. DOI : 10.1109/MCI.2010.937320.

Learning and reproduction of gestures by imitation: An approach based on Hidden Markov Model and Gaussian Mixture Regression

S. Calinon; F. D’halluin; E. Sauser; D. Caldwell; A. Billard 

IEEE Robotics and Automation Magazine. 2010. Vol. 17, num. 2, p. 44–54. DOI : 10.1109/MRA.2010.936947.

Conference Papers

A study of two complementary encoding strategies based on learning by demonstration for autonomous navigation task

A. de Rengervé; F. D’halluin; P. Gaussienr; A. Billard 

2010. Tenth International Conference on Epigenetic Robotics, Örenäs Slott, Sweden, November, 5-7, 2010.

A state-action neural network supervising navigation and manipulation behaviors for complex task reproduction

F. D’halluin; A. de Rengervé; M. Lagarde; P. Gaussier; A. Billard et al. 

2010. Tenth International Conference on Epigenetic Robotics, Örenäs Slott, Sweden, November, 5-7, 2010.

Learning Motion Dynamics to Catch a Moving Object

S. Kim; E. Gribovskaya; A. Billard 

2010. 10th IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, USA, December 6-8, 2010. p. 106-111. DOI : 10.1109/ICHR.2010.5686332.

Imitation learning of Globally Stable Non-Linear Point-to-Point Robot Motions using Nonlinear Programming

S. M. Khansari-Zadeh; A. Billard 

2010. the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 18-22 October, 2010. p. 2676-2683. DOI : 10.1109/IROS.2010.5651259.

Posters

A state-action neural network supervising navigation and manipulation behaviors for complex task reproduction

F. D’halluin; A. de Rengervé; M. Lagarde; P. Gaussier; A. Billard et al. 

Tenth International Conference on Epigenetic Robotics, Örenäs Slott, Sweden, November, 5-7, 2010.

The variability of contact position errors in apraxic imitation

B. Petreska; L. Schneider; J. Buttet Sovilla; A. Billard; M. Aeschlimann 

Society for Neuroscience Meeting (SfN 2010), San Diego, California, USA, November 13-17, 2010.

Student Projects

Learning to Control Planar Hitting Motions of a Robotic Arm in a Mini-Golf-like Task

K. J. A. Kronander 

2010.

2009

Journal Articles

Interview with Biljana Petreska, Ecole Polytechnique Federale de Lausanne, Switzerland

B. Petreska 

Ieee Computational Intelligence Magazine. 2009. Vol. 4, p. 7-10. DOI : 10.1109/MCI.2008.930982.

Statistical Learning by Imitation of Competing Constraints in Joint Space and Task Space

S. Calinon; A. Billard 

Advanced Robotics. 2009. Vol. 23, num. 15, p. 2059-2076. DOI : 10.1163/016918609X12529294461843.

Conference Papers

Tactile Correction and Multiple Training Data Sources for Robot Motion Control

B. D. Argall; E. L. Sauser; A. G. Billard 

2009. Whistler, British Columbia, December, 2009.

Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture

A. Sproewitz; A. Billard; P. Dillenbourg; A. J. Ijspeert 

2009. 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, May 12-17, 2009. p. 4259-4264. DOI : 10.1109/ROBOT.2009.5152613.

Teaching Physical Collaborative Tasks: Object-Lifting Case Study with a Humanoid

P. Evrard; E. Gribovskaya; S. Calinon; A. Billard; A. Kheddar 

2009. IEEE International Conference on Humanoid Robots, Paris, 7-10 Dec. 2009. DOI : 10.1109/ICHR.2009.5379513.

Handling of multiple constraints and motion alternatives in a robot programming by demonstration framework

S. Calinon; F. D’halluin; D. G. Caldwell; A. Billard 

2009. 9th IEEE-RAS International Conference on Humanoid Robots, Paris, December 7 – 10, 2009. p. 582-588. DOI : 10.1109/ICHR.2009.5379592.

Theses

Modeling the neural correlates of imitation from a neuropsychological perspective

B. Petreska / A. Billard (Dir.)  

Lausanne, EPFL, 2009. 

Posters

Learning and Control of UAV maneuvers Based on Demonstrations

S. M. Khansari-Zadeh; A. Billard 

Robotics Science and Systems, Seattle, June 28 – July 1, 2009.

Combining Task-Level and Trajectory-Level Learning for Teaching Robots Bimanual Coordinated Tasks

E. Gribovskaya; A. Billard 

Robotics Science and Systems, Seattle,

Student Projects

Teaching of an Acrobatic Maneuver to an Aerial Robot

A. Arfire 

2009.

2008

Journal Articles

Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations

M. Hersch; F. Guenter; S. Calinon; A. Billard 

IEEE Transactions on Robotics. 2008. Vol. 24, num. 6, p. 1463-1467. DOI : 10.1109/TRO.2008.2006703.

Online learning of the body schema

M. Hersch; E. Sauser; A. Billard 

International Journal of Humanoid Robotics. 2008. Vol. 5, num. 2, p. 161-181. DOI : 10.1142/S0219843608001376.

Conference Papers

Graph signature for self-reconfiguration planning

M. Asadpour; A. Sproewitz; A. Billard; P. Dillenbourg; A. J. Ijspeert 

2008. International Conference on Intelligent Robots and Systems, Nice, September 22-26, 2008. p. 863-869. DOI : 10.1109/IROS.2008.4650673.

A Probabilistic Programming by Demonstration Framework Handling Constraints in Joint Space and Task Space

S. Calinon; A. Billard 

2008. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Nice, France, 22-26 September, 2008. DOI : 10.1109/IROS.2008.4650593.

A Neural Model of Demyelination of the Mouse Spinal Cord

B. Petreska; Y. Yovel 

2008. International Joint Conference on Neural Networks (IJCNN 2008), Hong Kong, June 1-6. p. 2538-2544. DOI : 10.1109/IJCNN.2008.4634153.

On the influence of symbols and myths in the responsibility ascription problem in roboethics – A roboticist’s perspective

P-A. Mudry; S. Degallier; A. Billard 

2008. RO-MAN, Münich, August 2008. p. 563–568. DOI : 10.1109/ROMAN.2008.460072.

Posters

Human Motion Prediction in a Human-Robot Joint Task

E. Gribovskaya; A. Billard 

IEEE Conference on Intelligent Robots and Systems, Workshop on Robotics Challenges for Machine Learning.

Neurocomputational modeling of imitation deficits

B. Petreska; A. Billard 

Seventeenth Annual Computational Neuroscience Meeting (CNS 2008), BMC Neuroscience 2008, 9(Suppl 1):P76, Portland, Oregon, USA, July 19 – 24, 2008.

Neurocomputational Modeling of Imitation through Apraxia Errors

B. Petreska; A. Billard 

Workshop for Women in Machine Learning (WiML 2008), colocated with NIPS, Vancouver, British Columbia, Canada, December 8, 2008.

Modeling Unconstrained Self-Oriented Movements

B. Petreska; A. G. Billard 

Neural Control of Movement Society Meeting (NCM 2008), Naples, Florida, April 29 – May 4.

2007

Journal Articles

Auditory motion affects visual biological motion processing

A. Brooks; R. van der Zwan; A. Billard; B. Petreska; S. Clarke et al. 

Neuropsychologia. 2007. Vol. 45, num. 3, p. 523-530. DOI : 10.1016/j.neuropsychologia.2005.12.012.

Neuroprotection by Hsp104 and Hsp27 in lentiviral-based rat models of Huntington’s disease

V. Perrin; E. Régulier; T. Abbas-Terki; R. Hassig; E. Brouillet et al. 

Molecular Therapy. 2007. Vol. 15, num. 5, p. 903-11. DOI : 10.1038/mt.sj.6300141.

Reinforcement Learning for Imitating Constrained Reaching Movements

F. Guenter; M. Hersch; S. Calinon; A. Billard 

Advanced Robotics. 2007. Vol. 21, num. 13, p. 1521-1544. DOI : 10.1163/156855307782148550.

Conference Papers

A Model of Acquisition of Discrete Bimanual Coordination Skills for a Humanoid Robot

E. Gribovskaya; A. Billard 

2007. International Conference in Epigenetic Robotics.

Analysis of Head Mounted Wireless Camera Videos for Early Diagnosis of Autism

B. Noris; K. Benmachiche; J. Meynet; J-P. Thiran; A. Billard 

2007. International Conference on Recognition Systems, Wroclaw (Poland), 2007. p. 663-670. DOI : 10.1007/978-3-540-75175-5_83.

WearCam: A head mounted wireless camera for monitoring gaze attention and for the diagnosis of developmental disorders in young children

L. Piccardi; B. Noris; O. Barbey; A. Billard; G. Schiavone et al. 

2007. RO-MAN’2007, 2007. p. 594-598. DOI : 10.1109/ROMAN.2007.4415154.

Using Reinforcement Learning to Adapt an Imitation Task

F. Guenter; A. Billard 

2007. IROS’2007, 2007. p. 1022-1027. DOI : 10.1109/IROS.2007.4399449.

Active Teaching in Robot Programming by Demonstration

S. Calinon; A. Billard 

2007. RO-MAN’2007, Jeju, Korea, 2007. p. 702-707. DOI : 10.1109/ROMAN.2007.4415177.

The Dof-Box Project: An Educational Kit for Configurable Robots

D. Daidie; O. Barbey; A. Guignard; D. Roussy; F. Guenter et al. 

2007. AIM 2007, 2007-09-04. DOI : 10.1109/AIM.2007.4412571.

Reviews

Apraxia: a review

B. Petreska; M. Adriani; O. Blanke; A. G. Billard 

Progress in brain research. 2007. Vol. 164, p. 61-83. DOI : 10.1016/S0079-6123(07)64004-7.

2006

Journal Articles

Dynamic Updating of Distributed Neural Representations using Forward Models

E. Sauser; A. Billard 

Biological Cybernetics. 2006. Vol. 95(6), p. 567-588. DOI : 10.1007/s00422-006-0131-3.

Conference Papers

Robot Navigation by Panoramic Vision and Attention Guided Features

A. Bur; A. Tapus; N. Ouerhani; R. Siegwart; H. Hügli 

2006. International Conference on Pattern Recognition (ICPR), August 20-24, 2006. p. 695-698. DOI : 10.1109/ICPR.2006.998.

Fuzzy adaptive control of nonlinear systems

E. Gribovskaya; N. Novikova 

2006. Informational Technologies of Modeling and Control. p. 50-55.

On one method of design of stable adaptive fuzzy control system

E. Gribovskaya; A. Gribovskiy 

2006. XII International Scientific Conference for Young Scientists “Lomonosov-2006” by Moscow State University, Moscow,

An attention framework for learning by interaction in developmental embodied agents

I. Goga; A. Billard 

2006. TAROS 2006, Guildford, UK, 4-6 Sept 2006. p. 64-71.

Attention mechanisms for the imitation of goal-directed action in developmental robots

I. Goga; A. Billard 

2006. EPIROB 2006, Paris, France, 20-22 Sept 2006.

Books

The Social Mechanisms of Robot Programming By Demonstration

A. Billard; R. Dillmann 

Elsevier, 2006.

Working Papers

Neural Modeling of Imitation Deficits

B. Petreska; M. Adriani; O. Blanke; A. Billard 

2006

Posters

A Neurocomputational Model of Impaired Imitation

B. Petreska; A. Billard 

first Workshop for Women in Machine Learning (WiML 2006), San Diego (USA), 4 October 2006.

Gait Analysis of Autistic Children with Echo State Networks

B. Noris; M. Nobile; L. Piccini; M. Molteni; F. Keller et al. 

NIPS’06, Vancouver, B.C., Canada, December 4, 2006.

2005

Journal Articles

Robotic assistants in therapy and education of children with autism: Can a small humanoid robot help encourage social interaction skills?

B. Robins; K. Dautenhahn; R. te Boekhorst; A. Billard 

Universal Access in the Information Society. 2005. Vol. 4, num. 2, p. 105-120. DOI : 10.1007/s10209-005-0116-3.

Three Dimensional Frames of References Transformations using Recurrent Populations of Neurons

E. Sauser; A. Billard 

Neurocomputing. 2005. Vol. 64, p. 5-24. DOI : 10.1016/j.neucom.2004.11.019.

Conference Papers

A Humanoid Robot Drawing Human Portraits

S. Calinon; J. Epiney; A. Billard 

2005. IEEE-RAS International Conference on Humanoid Robots. p. 161-166. DOI : 10.1109/ICHR.2005.1573562.

Recognition and Reproduction of Gestures using a Probabilistic Framework combining PCA, ICA and HMM

S. Calinon; A. Billard 

2005. 22nd International Conference on Machine Learning, Bonn, Germany, August 2005. p. 105–112.

Design of a Biomimetic Upper Body for the Humanoid Robot Robota

F. Guenter; L. Roos; A. Guignard; A. Billard 

2005. IEEE-RAS International Conference on Humanoid Robots, 2005-12-05. p. 56-61. DOI : 10.1109/ICHR.2005.1573545.

Goal-Directed Imitation in a Humanoid Robot

S. Calinon; F. Guenter; A. Billard 

2005. International Conference on Robotics and Automation, Barcelona, Spain, April 2005. p. 299–304. DOI : 10.1109/ROBOT.2005.1570135.

Challenges in designing the body and the mind of an interactive robot

A. Billard 

2005. AISB05 convention, Symposium on Robot Companions: Hard Problems and Open Challenges, 12-15 April 2005,UH..

Extended Hopfield Network for Sequence Learning: Application to Gesture Recognition

A. Maurer; M. Hersch; A. Billard 

2005. ICANN’2005, 2005-09-05. p. 493–498. DOI : 10.1007/11550822_77.

View Sensitive Cells as a Neural Basis for the Representation of Others in a Self-Centered Frame of Reference

E. Sauser; A. Billard 

2005. Third International Symposium on Imitation in Animals and Artifacts, Hatfield, UK, p. 119-127.

Posters

Modeling of Imitation Deficits in Apraxic Patients

B. Petreska; M. Adriani; O. Blanke 

ESF Research Conference on Brain Development and Cognition in Human Infants, Maratea (Italy), 2005.

2004

Journal Articles

Coevolution of active vision and feature selection

D. Floreano; T. Kato; D. Marocco; E. Sauser 

Biological Cybernetics. 2004. Vol. 90, num. 3, p. 218–228. DOI : 10.1007/s00422-004-0467-5.

Discovering Optimal Imitation Strategies

A. Billard; Y. Epars; S. Calinon; G. Cheng; S. Schaal 

Robotics and Autonomous Systems. 2004. Vol. 47, num. 2-3, p. 69-77. DOI : 10.1016/j.robot.2004.03.002.

Conference Papers

Robots as Assistive Technology – Does Appearance Matter?

B. Robins; K. Dautenhahn; R. te Boekhorst 

2004. RO-MAN’2004, Kurashiki , Okayama Japan., September 20-22, 2004. p. 277-282. DOI : 10.1109/ROMAN.2004.1374773.

Three dimensional frames of reference transformations using gain modulated populations of neurons

E. Sauser; A. Billard 

2004. 12th European Symposium on Artificial Neural Networks, Bruges (Belgium), p. 543-548.

Stochastic Gesture Production and Recognition Model for a Humanoid Robot

S. Calinon; A. Billard 

2004. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 2004. p. 2769-2774. DOI : 10.1109/IROS.2004.1389828.

Effects of repeated exposure of a humanoid robot on children with autism

B. Robins; K. Dautenhahn; R. te Boekhorst; A. Billard 

2004. 2nd Cambridge Workshops on Universal Access and Assistive Technology (CWUAAT), Cambridge, England, March 2004. p. 225-236. DOI : 10.1007/978-0-85729-372-5_23.

Development of a miniature articulated arm and pair of eyes for the humanoid robot Robota

F. Guenter; A. Guignard; L. Piccardi; M. Calzascia; A. Billard 

2004. IEEE/APS conference on Mechatronics and Robotics.

Gesture Recognition and Reproduction for a Humanoid Robot using Hidden Markov Models

S. Calinon; A. Billard 

2004. AMI/PASCAL/IM2/M4 Workshop on Multimodal Interaction and Related Machine Learning Algorithms.

Books

EDITORIAL: Robot Programming By Demonstration

A. Billard; R. Siegwart 

2004.

Reports

Stereoscopic Vision and Trajectory Recognition

C. Dubach 

2004

2003

Journal Articles

Robota: Clever Toy and Educational Tool

A. Billard 

Robotics and Autonomous Systems. 2003. Vol. 42, p. 259-269. DOI : 10.1016/S0921-8890(02)00380-9.

Computational approaches to motor learning by imitation

S. Schaal; A. J. Ijspeert; A. Billard 

Philosophical transaction of the Royal Society of London, series B. 2003. Vol. 358, num. 1431, p. 537-547. DOI : 10.1098/rstb.2002.1258.

Conference Papers

Modeling directional firing properties of place cells

R. Chavarriaga; E. Sauser; W. Gerstner 

2003. Twelfth Annual Computational Neuroscience Meeting CNS*2003, Alicante, Spain,

PDA Interface for Humanoid Robots

S. Calinon; A. Billard 

2003. third IEEE International Conference on Humanoid Robots, Karlsruhe, Germany, October 2003.

Effect of repeated exposure of a humanoid robot on children with autism – Can we encourage basic social interaction skills

B. Robins; K. Dautenhahn; R. te Boekhorst; A. Billard 

2003. CWUATT.

Discovering Imitation Strategies through Categorization of Multi-Dimensional Data

A. Billard; Y. Epars; S. Schaal; G. Cheng 

2003. IEEE/RSJ International Conference on Intelligent Robots and Systems.. p. 2398-2403. DOI : 10.1109/IROS.2003.1249229.

Student Projects

PDA Interface for Humanoid Robots using Speech and Vision Processing

S. Calinon 

2003.

2002

Journal Articles

Imitation of coordinated arm movements

A. Billard; S. Schaal; J. Gordon 

Experimental Brain Research. 2002. 

Conference Papers

Games children with autism can play with robota, a humanoid robotics doll

K. Dautenhahn; A. Billard 

2002. 1st Cambridge Workshop on Universal Access and Assistive Technology, March 2002. p. 179–190. DOI : 10.1007/978-1-4471-3719-1_18.

Computational elements of robot learning by imitation

A. Billard; S. Schaal 

2002. 980th American Mathematical Society, University of Wisconsin, Madison, Wisconsin, Oct. 12-13.

Book Chapters

Imitation

A. Billard; M. Arbib 

Handbook of Brain Theory and Neural Networks; MIT Press, 2002. p. 566-569.

Play, Dreams and Imitation in Robota

A. Billard 

Socially Intelligent Agents; Kluwer publisher, 2002. p. 165-173.

Mirror neurons, and the neural basis for learning by imitation: Computational modeling

A. Billard; M. Arbib; M. Stamenov; V. Gallese 

Mirror Neurons and the Evolution of Brain and Language; John Benjamins publisher, 2002. p. 343-353.

Imitation: a means to enhance learning of a synthetic proto-language in an autonomous robot

A. Billard 

Imitation in Animals and Artifacts; MIT Press, 2002. p. 281-311.

2001

Journal Articles

Comparison between macaques’ and humans’ kinematics of prehension: the role of morphological differences and control mechanisms

M. Christel; A. Billard 

Behavioural Brain Research. 2001. Vol. 131, num. 1-2, p. 169-184. DOI : 10.1016/S0166-4328(01)00372-2.

Learning human arm movements by imitation: Evaluation of a biologically-inspired connectionist architecture

A. Billard; M. Mataric 

Robotics and Autonomous Systems. 2001. Vol. 37, num. 2-3, p. 145-160. DOI : 10.1016/S0921-8890(01)00155-5.

Collaboration through the Exploitation of Local Interactions in Autonomous Collective Robotics: The Stick Pulling Experiment

A. Ijspeert; A. Martinoli; A. Billard; L. M. Gambardella 

Autonomous Robots. 2001. Vol. 11, num. 2, p. 149-171. DOI : 10.1023/A:1011227210047.

Conference Papers

Robust learning of arm trajectories through human demonstration

A. Billard; S. Schaal 

2001. International Conference on Intelligent and Robotics Systems, Hawaii, November, 2001. p. 734-739.

A neural model of morpheme representation

M. Klein; A. Billard 

2001. 8th Joint Symposium on Neural Computation, The Salk Institute, La Jolla, California, Mai, 2001.

Mirror Neurons and the neural basis for learning by imitation: A computational model

A. Billard; M. Arbib 

2001. Conference on Mirror Neurons and the Evolution of Brain and Language, Delmenhorst, Germany, July 5-8, 2001.

2000

Journal Articles

Synthetic brain imaging: grasping, mirror neurons and imitation

M. Arbib; A. Billard; M. Iacobonni; E. Oztop 

Neural Networks. 2000. Vol. 13, num. 8-9, p. 975-997. DOI : 10.1016/S0893-6080(00)00070-8.

Learning motor skills by imitation: a biologically inspired robotic model

A. Billard 

Cybernetics & Systems. 2000. Vol. 32, num. 1-2, p. 155-193. DOI : 10.1080/019697201300001849.

Conference Papers

Learning human arm movements by imitation: Evaluation of a biologically-inspired connectionist architecture

A. Billard; M. Mataric 

2000. First IEEE-RAS International Conference on Humanoid Robotics, MIT, Cambridge, MA, September 7-8.

Biologically inspired neural controllers for motor control in a quadruped robot

A. Billard; A. Ijspeert 

2000. International Joint Conference on Neural Networks, Come (Italy), 27 July, 2000. p. 637-641. DOI : 10.1109/IJCNN.2000.859467.

Learning motor skills by imitation: a biologically inspired robotic model

A. Billard; M. Mataric 

2000. Fourth International Conference on Cognitive and Neural Systems, Boston, May 24-27, 2000.

Learning motor skills by imitation

A. Billard; M. Mataric 

2000. 7th Joint Symposium on Neural Computation, Los Angeles, May 20, 2000.

Play, Dreams and Imitation in Robota

A. Billard 

2000. Workshop on Interactive Robotics and Entertainment, CMU, Pittsburgh, April 30 – Mai 1, 2000.

Betty: “Robot, play with me!”. Robot: “O.K. How do we play?”. Betty: “You watch me and do like I do. Look!”

A. Billard; M. Mataric 

2000. Workshop on Interactive Robotics and Entertainment, CMU, Pittsburgh, April 30 – Mai 1, 2000.

A biologically inspired robotic model for learning by imitation

A. Billard; M. Mataric 

2000. Fourth International Conference on Autonomous Agents, Barcelona, Spain, June 2000. p. 373-380. DOI : 10.1145/336595.337544.

1999

Journal Articles

Experiments in social robotics: grounding and use of communication in autonomous agents

A. Billard; K. Dautenhahn 

Adaptive Behavior. 1999. Vol. 7, num. 3/4, p. 415-438. DOI : 10.1177/105971239900700311.

DRAMA, a connectionist architecture for on-line learning and control of autonomous robots: Experiments on learning of a synthetic proto-language with a doll robot

A. Billard 

Industrial Robot. 1999. Vol. 26, num. 1, p. 59-66. DOI : 10.1108/01439919910250232.

DRAMA, a connectionist architecture for control and learning in autonomous robots

A. Billard; G. Hayes 

Adaptive Behavior. 1999. Vol. 7, num. 1, p. 35-64. DOI : 10.1177/105971239900700103.

A multi-robot system for adaptive exploration of a fast changing environment: probabilistic modelling and experimental study

A. Billard; A. Ijspeert; A. Martinoli 

Connection Science. 1999. Vol. 11, num. 3–4, p. 359-377. DOI : 10.1080/095400999116304.

Conference Papers

Adaptive exploration of a dynamic environment by a group of communicating robots

A. Billard; A. Ijspeert; A. Martinoli 

1999. 7th European Conference on Artificial Life, Lausanne, CH, September, 1999.

Imitation skills as a means to enhance learning of a synthetic proto-language in an autonomous robot

A. Billard 

1999. AISB Symposium on Imitation in Animals and Artifacts, Edinbrugh, U.K., April, 1999.

Bringing up Robots or – The Psychology of Socially Intelligent Robots: From Theory to Implementation

K. Dautenhahn; A. Billard 

1999. Third International Conference on Autonomous Agents, Seattle, Washington, USA, p. 366-367.

Studying Robot Social Cognition Within a Developmental Psychology Framework

K. Dautenhahn; A. Billard 

1999. Third European Workshop on Advanced Mobile Robots, Switzerland, September, 1999. p. 187-194.

1998

Journal Articles

Grounding communication in autonomous robots: an experimental study

A. Billard; K. Dautenhahn 

Robotics and Autonomous Systems. 1998. Vol. 24, num. 1-2, p. 71-79. DOI : 10.1016/S0921-8890(98)00023-2.

Conference Papers

Experiments on human-robot communication with Robota, an imitative learning and communicating doll robot

A. Billard; K. Dautenhahn; G. Hayes 

1998. Socially Situated Intelligence Workshop, as part of the International Conference on Simulation of Adaptive Behavior, Zurich (CH), August.

Evolutionary robotics – a children’s game

H. Lund; O. Miglino; L. Pagliarini; A. Billard; A. Ijspeert 

1998. IEEE International Conference on Evolutionary Computation. p. 154-158. DOI : 10.1109/ICEC.1998.699493.

Theses

DRAMA, a connectionist model for robot learning: Experiments on grounding communication through imitation in autonomous robots

A. Billard / A. Billard (Dir.)  

Department of Artificial Intelligence, University of Edinburgh, 1998. 

Book Chapters

Transmitting Communication Skills through Imitation in Autonomous robots

A. Billard; G. Hayes 

Learning Robots: A Multi-Perspective Exploration; Springer-Verlag, 1998. p. 79-95.

1997

Conference Papers

Transmitting Communication Skills through Imitation in Autonomous robots

A. Billard; G. Hayes 

1997. Sixth European Workshop on Learning Robots, Brighton, July, 1997. p. 79-94.

Learning to Communicate through Imitation in Autonomous robots

A. Billard; G. Hayes 

1997. 7th International Conference on Artificial Neural Networks, Lausanne, CH, October 1997. p. 763-768. DOI : 10.1007/BFb0020246.

Grounding communication in situated, social robots

A. Billard; K. Dautenhahn 

1997. Towards Intelligent Mobile Robots Conference, Manchester,

‘Robot’s first steps, Robot’s first words …’

A. Billard; G. Hayes 

1997. Groningen Assembly on Language Acquisition, Edinburgh, 4-6 April, 1997.

Posters

The social aspect of communication: a case study in the use and usefulness of communication for embodied agents

A. Billard; K. Dautenhahn 

1996

Reports

Grounding communication in situated, social robots

A. Billard; K. Dautenhahn 

1996

‘Allo Kazam, do you follow me?’ Learning to speak through imitation for social robots

A. Billard 

1996