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Aude Billard

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Related publications (263)

Policy Adaptation through Tactile Correction

Aude Billard, Eric Sauser, Brenna Dee Argall

Demonstration learning is a powerful and practical technique to develop robot behaviors. Even so, development remains a challenge and possible demonstration limitations, for example correspondence issues between the robot and demonstrator, can degrade poli ...

2010

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

Aude Billard, Eric Sauser, Sylvain Calinon, Florent D'Halluin

We present a probabilistic approach to learn robust models of human motion through imitation. The association of Hidden Markov Model (HMM), Gaussian Mixture Regression (GMR) and dynamical systems allows us to extract redundancies across multiple demonstrat ...

Institute of Electrical and Electronics Engineers2010

Tactile Guidance for Policy Adaptation

Aude Billard, Eric Sauser, Brenna Dee Argall

2010

Learning Motion Dynamics to Catch a Moving Object

Aude Billard, Elena Gribovskaya, Seungsu Kim

In this paper, we consider a novel approach to control the timing of motions when these are encoded with autonomous dynamical systems (DS). Accurate timing of motion is crucial if a robot must synchronize its movement with that of a fast moving object. In ...

2010

BM: An Iterative Method to Learn Stable Non-Linear Dynamical Systems with Gaussian Mixture Models

Aude Billard, Seyed Mohammad Khansari Zadeh

We model the dynamics of non-linear discrete (i.e. point-to- point) robot motions as a time-independent system described by an autonomous dynamical system (DS). We propose an iterative algorithm to estimate the form of the DS through a mixture of Gaussian ...

2010

Roombots: Reconfigurable Robots for Adaptive Furniture

Aude Billard, Auke Ijspeert, Pierre Dillenbourg, Rico Möckel, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom, Stéphane Bonardi

Imagine a world in which our furniture moves around like legged robots, interacts with us, and changes shape and function during the day according to our needs. This is the long term vision we have in the Roombots project. To work towards this dream, we ar ...

2010

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

Aude Billard, Florent D'Halluin

In this abstract, we combine work from [Lagarde et al., 2010] and [Calinon et al., 2009] for learning and reproduction of, respectively, navigation tasks on a mobile robot and gestures with a robot arm. Both approaches build a sensory motor map under human ...

2010

Evaluation of a probabilistic approach to learn and reproduce gestures by imitation

Aude Billard, Eric Sauser, Sylvain Calinon

We present an approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) to learn robust models of human motion through imitation. The proposed approach allows us to extract redundancies across multiple demonstrations and build time- ...

2010

Keyword Detection for Spontaneous Speech

Aude Billard, Hervé Bourlard, Weifeng Li

This paper presents a system for keyword detection in spontaneous speech. Keywords are predefined through a set of acoustic examples provided by the users. Keyword detection proceeds in two steps: keyword searching and verification. To address the problem ...

2009

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

Aude Billard, Sylvain Calinon

We present a probabilistic architecture for solving generically the problem of extracting the task constraints through a Programming by Demonstration (PbD) framework and for generalizing the acquired knowledge to various situations. In previous work, we pr ...

2009

Movement Curvature Planning through Force Field Internal Models

Aude Billard, Biljana Petreska von Ritter-Zahony

Human motion studies have focused primarily on modeling straight point-to-point reaching movements. However, many goal-directed reaching movements, such as movements directed towards oneself, are not straight but rather follow highly curved trajectories. T ...

2009

Teaching a Humanoid: A User Study on Learning by Demonstration with HOAP-3

Aude Billard, Sylvain Calinon

This article reports on the results of a user study investigating the satisfaction of naïve users conducting two learning by demonstration tasks with the HOAP-3 robot. The main goal of this study was to gain insights on how to ensure a successful as well a ...

2009

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

Aude Billard, Sylvain Calinon, Florent D'Halluin

We consider the problem of learning robust models of robot motion through demonstration. An approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) is proposed to extract redundancies across multiple demonstrations, and build a ti ...

2009

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

Aude Billard, Sylvain Calinon, Elena Gribovskaya

This paper presents the application of a statistical framework that allows to endow a humanoid robot with the ability to perform a collaborative manipulation task with a human operator. We investigate to what extent the dynamics of the motion and the hapti ...

IEEE2009

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

Aude Billard, Auke Ijspeert, Pierre Dillenbourg, Alexander Spröwitz

We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture ...

2009

Tactile Correction and Multiple Training Data Sources for Robot Motion Control

Aude Billard, Eric Sauser, Brenna Dee Argall

This work considers our approach to robot motion control learning from the standpoint of multiple data sources. Our paradigm derives data from human teachers providing task demonstrations and tactile corrections for policy refinement and reuse. We contribu ...

2009

Learning collaborative manipulation tasks by demonstration using a haptic interface

Aude Billard, Sylvain Calinon, Elena Gribovskaya

This paper presents a method by which a robot can learn through observation to perform a collaborative manipulation task, namely lifting an object. The task is first demonstrated by a user controlling the robot's hand via a haptic interface. Learning extra ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2009

Learning Nonlinear Multi-Variate Motion Dynamics for Real- Time Position and Orientation Control of Robotic Manipulators

Aude Billard, Elena Gribovskaya

We present a generic framework that allows learning non- linear dynamics of motion in manipulation tasks and generating dynamical laws for control of position and orientation. This work follows a recent trend in Programming by Demonstration in which the dy ...

2009

Reaching with Multi-Referential Dynamical Systems

Micha Hersch, Aude Billard

We study a reaching movement controller for a redundant serial arm manipulator, based on two principles believed to be central to biological motion control: multi-referential control and dynamical system control. The resulting controller is based on two co ...

2008

Calibration-Free Eye Gaze Direction Detection with Gaussian Processes

Aude Billard, Basilio Noris

In this paper we present a solution for eye gaze detection from a wireless head mounted camera designed for children aged between 6 months and 18 months. Due to the constraints of working with very young children, the system does not seek to be as accurate ...

2008

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