Publications

SAHR is an open science project. All publication as well as the code, videos, database and other product of the project are freely available online. You will find the relevant resources listed with each publication. In case of issue with a publication or a resource please contact [email protected].

  • Niederhauser, L.,  Prabhakar, A., Reber, D., Billard, A., “A Predictive Model for Tactile Force Estimation using Audio-Tactile Data”, IEEE Robotics and Automation Letters, 2023. DOI: 10.1109/LRA.2023.3340614
    Publication      Video

  • Khadivar, F., Billard, A., “Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics”, IEEE Transactions on Robotics, 2023. DOI: 10.1109/TRO.2023.3280028
    Publication        Video

  • Khadivar, F.*, Yao, K.*, Gao, X. and Billard, A. “Online active and dynamic object shape exploration with a multi-fingered robotic hand.” * Equal contribution. Robotics and Autonomous Systems, 2023: 104461. DOI: 10.1016/j.robot.2023.104461
    Publication        Video

  • Yao, K. and Billard, A. “Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects.” IEEE Transactions on Robotics, 2023. DOI: 10.1109/TRO.2023.3253249
    Publication        Video

  • Khadivar, F. Chatzilygeroudis, K, Billard, A. “Self-Correcting Quadratic Programming-Based Robot Control.” IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, DOI: 10.1109/TSMC2023.3262954
    Publication

  • Huber, L., Slotine, J.-J., Billard, A. “Fast Obstacle Avoidance Based on Real-Time Sensing.” IEEE Robotics and Automation Letters, 2023. DOI: 10.1109/LRA.2022.3232271
    Publication

  • Fichera, B. and Billard, A. “Linearization and Identification of Multiple-Attractors Dynamical Systems through Laplacian Eigenmaps.” Journal of Machine Learning Research (JMLR), 2022. Under review.
    Publication

  • Huber, L., Slotine, J.-J., and Billard, A. “Avoiding Dense and Dynamic Obstacles in Enclosed Spaces: Application to Moving in Crowds.” IEEE Transactions on Robotics (2022). DOI: 10.1109/TRO.2022.3164789
    Publication        Video        Code

  • Koptev, M., Figueroa, N., Billard, A. (2021). “Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control.” IEEE Robotics and Automation Letters, DOI: LRA.2022.3227860
    Publication        Video

  • Yao, K., Sternad, D., and Billard, A. (2021). “Hand Pose Selection in a Bimanual Fine-Manipulation Task.” Journal of Neurophysiology 126, no. 1. DOI:10.1152/jn.00635.2020.
    Publication (JNP)     Publication (PubMed)
    Dataset (GitHub)      Dataset (Zenodo)

  • Khadivar, F., Lauzana, I., & Billard, A. (2021). “Learning dynamical systems with bifurcations.” Robotics and Autonomous Systems, 136, 103700.  DOI:10.1016/j.robot.2020.103700.
    Publication      Video      Code

  • Koptev, M., Figueroa, N., Billard, A. (2021). “Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots.”, IEEE Robotics And Automation Letters. DOI: 10.1109/LRA.2021.3057024
    Publication

  • Wu, R., Billard A. (2021). “Learning from demonstration and interactive control of variable impedance to cut soft tissues.”, IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMEACH.2021.3123356.
    Publication        Video

  • Chatzilygeroudis K., Fichera B., Lauzana I., Bu, F., Yao K., Khadivar F., and Billard A. (2020). “Benchmark for Bimanual Robotic Manipulation of Semi-Deformable Objects.“, IEEE Robotics and Automation Letters, 5(2), pp.2443-2450. DOI:10.1109/LRA.2020.2972837
    Publication

  • Yao, K. and Billard, A. (2020). “An inverse optimization approach to understand human acquisition of kinematic coordination in bimanual fine manipulation tasks.” Biological Cybernetics, 2020, 114(1), pp.63-82. DOI:0.1007/s00422-019-00814-9
    Publication      Dataset (Github)     Dataset (Zenodo)
    Code (GitHub)      Code (Zenodo)

  • Billard, A. and Kragic, D. (2019). “Trends and Challenges in Robot Manipulation.” Science, 21 Jun 2019: Vol. 364, Issue 6446, DOI:10.1126/science.aat8414
    Publication (EPFL infoscience)      Publication (Science.org)

  • Billard, A., Mirrazavi S. and Figueroa N. (2022). ” Learning for Adaptive and Reactive Robot Control.” MIT Press. Link here.
  • Fichera, B., Borovitskiy V., Krause, A., Billard, A., (2023), “Implicit Manifold Gaussian Process Regression” Advances in Neural Information Processing Systems 36 (NeurIPS 2023)
    Publication

  • Fichera, B., Billard, A. (2023). “Hybrid Quadratic Programming – Pullback Bundle Dynamical Systems Control .”, 8th International Symposium of Robotics Research (ISRR), Sep 25-30, 2022, Geneva, SWITZERLAND.
    Publication

  • Yao, K., Sternad, D., and Billard, A. (2022). “Effects of task conditions on human hand pose selection strategies in a bimanual fine manipulation task.”, Neural Control of Movement 2022 Annual meeting, Dublin, Ireland July 25-29 2022.
    Publication

  • Savio, C.*, Yao, K.*, and Billard, A. (2022). “Force synergies within and across the two hands in bimanual skill acquisition”.  Neural Control of Movement 2022 Annual Meeting. Dublin, Ireland, July 25-29, 2022. * Authors contributed to the work equally.
    Publication

  • Yao, K. and Billard, A. (2020). “Effects of task conditions on human hand pose selection strategies in bimanual fine manipulation tasks.” Neural Control of Movement (NCM), Annual Meeting. Dubrovnik, Coratia, 2020.
    Conference cancelled due to the COVID-19 pandemic.
    Publication

  • Khadivar, F., Gupta, S., Amanhoud, W., & Billard, A. (2021). “Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators.” International Conference on Robotics and Automation (2021). DOI:10.1109/ICRA48506.2021.9561587
    Publication      Code

  • Ferreira, D. Nuno, R., Chatzilygeroudis, K., Santos-Victor, J., Billard, A. (2020). “From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues.”, 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
    Publication

  • Starke, J., Chatzilygeroudis, K., Billard, A., Asfour, T. (2019). “On Force Synergies in Human Grasping Behavior.”, IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Toronto, Canada, October 15-17, 2019. DOI: 10.1109/Humanoids43949.2019.9035047.
    Publication

  • Yao, K., Haget, A., and Billard, A. (2019). “Towards understanding of human kinematic coordination patterns in bimanual fine manipulation tasks.” Progress in Motor Control XII: Movement Improvement. Amsterdam, The Netherlands, July 7-10, 2019.
    Publication

  • Huber, L, Slotine, J.-J., and Billard, A. (2021). “A Unified Approach to Obstacle Avoidance and Motion Learning.” Workshop on Deployable Decision Making in Embodied Systems (DDM). NeurIPS 2021.
    Publication

  • Yao, K. and Billard, A. (2020). “Effect of task conditions on human hand control strategies in bimanual fine manipulation.” Workshop on Learning of Manual Skills in Humans and Robots. IEEE International Conference on Robotics and Automation (ICRA).
    Video

  • Yao, K., Fichera, B., Haget, A., Lauzana, I., and Billard, A. (2018). “Integrating Multisensory Information for Modeling Human Dexterous Bimanual Manipulation Skills.” Workshop: The Intelligence of Touch: Haptics, Tactile, Interaction. IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, October 1-5, 2018.
    Abstract

  • Billard, A. (2023) “SAHR From humans to robots with the SAHR project”, EU Research, Spring 2023, vol. (34), pp. 22 – 23
    Article
  • Koptev, K., Figueroa, N., Billard, A. (2022). “Implicit Distance Functions: Learning and Applications in Control “. International Conference on Robotics and Automation (ICRA 2022), Philadelphia (PA), USA, May 23-27, 2022.
    Publication
  • Koptev, M., 2023, “Implicit Distance Functions: Learning and Applications in Robotics.“, DOI: 10.5075/epfl-thesis-10197
    Publication

  • Khadivar, F., 2022, “Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation.”, DOI: 10.5075/epfl-thesis-9747
    Publication

  • Kunpeng, Y., 2022, “Enhancing our understanding of human fine manipulation skills and advancing robot dexterity in grasping.”, DOI: 10.5075/epfl-thesis-9380
    Publication

  • Koptev, M., (2021), “iCub Joint Space Self-Collision Avoidance [Data & Code]”, DOI: 10.5281/zenodo.8387095
    Zenodo Dataset

  • Kunpeng, Y., (2020), “Unscrewing Experiment Dataset.”, DOI: 10.5281/zenodo.3923806
    Zenodo Dataset

  • Kunpeng, Y., (2019), “Spring Assembly Experiment Dataset.”, DOI: 10.5281/zenodo.3923804
    Zenodo Dataset