Publications

Submitted Papers

  • Khadivar, F., Chatzilygeroudis,K., & Billard, A. “Self-Correcting Quadratic Programming-Based Robot Control.” Submitted to IJRR, Aug 2021.

  • Khadivar, F. and Billard, A. “Learning Grasp and Manipulation Control based on Coupled Dynamical Systems.” Submitted to T-RO, July 2021.

  • Yao, K. and Billard, A. “Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects.” Submitted to IJRR, July 2021.

  • Fichera, B. and Billard, A. “Linearization and Identification of Multiple-Attractors Dynamical Systems through Laplacian Eigenmaps.” Submitted to Journal of Machine Learning Research, 2020. Under review.

Journal Papers

  • Yao, K., Sternad, D., and Billard, A. (2021). “Hand Pose Selection in a Bimanual Fine-Manipulation Task.” Journal of Neurophysiology 126, no. 1. https://doi.org/10.1152/jn.00635.2020. [PubMed]. Dataset can be found on GitHub and Zenodo.

  • 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. Code for this publication is available here.

  • Khadivar, F., Lauzana, I., & Billard, A. (2021). “Learning dynamical systems with bifurcations.” Robotics and Autonomous Systems, 136, 103700. doi.org/10.1016/j.robot.2020.103700. [video], Code and data for this publication are available [here].

  • 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. [pdf].

  • 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. [pdf] The datasets analyzed during the study are available on GitHub and Zenodo, and source code available on GitHub and 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  (Reprint).

Conference Papers

  • 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), Code and data for this publication are available [here].

  • 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. [pdf]

  • 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.)

Workshop Publications

  • 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. [pdf]

  • 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]

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