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Sylvain Calinon

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Related publications (85)

Page 3 of 5

Probabilistic Adaptive Control for Robust Behavior Imitation

Sylvain Calinon, Hakan Girgin, Julius Maximilian Jankowski

In the context of learning from demonstration (LfD), trajectory policy representations such as probabilistic movement primitives (ProMPs) allow for rich modeling of demonstrated skills. To reproduce a learned skill with a real robot, a feedback controller ...

IEEE2021

A Brief Survey on the Role of Dimensionality Reduction in Manipulation Learning and Control

Sylvain Calinon

Bio-inspired designs are motivated by efficiency, adaptability and robustness of biological systems dynamic behaviors in complex environment. Despite progress in design, the lack of sensory-motor and learning capabilities is the main drawback of human-like ...

2018

Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics

Sylvain Calinon

How do I automate this task? This is a crucial question for production engineers. In classical industrial automation (think of a car factory) robots perform a small set of tasks for long periods of time. They were selected because their kinematic structure ...

2018

Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network

Sylvain Calinon, Emmanuel Pignat, Teguh Santoso Lembono, Julius Maximilian Jankowski

In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static stability. We propose a generative adversarial network approach to learn th ...

IEEE2021

Learning Autonomous Behaviours for the Body of a Flexible Surgical Robot

Sylvain Calinon

This paper presents a novel strategy to learn a positional controller for the body of a flexible surgical manipulator used for minimally invasive surgery. The manipulator is developed within the STIFF-FLOP European project and is targeted for a laparoscopi ...

2017

Combining Electromyography and Tactile Myography to Improve Hand and Wrist Activity Detection in Prostheses

Sylvain Calinon, Noémie Laure Gwendoline Jaquier

Despite recent advances in prosthetics and assistive robotics in general, robust simultaneous and proportional control of dexterous prosthetic devices remains an unsolved problem, mainly because of inadequate sensorization. In this paper, we study the appl ...

2017

Continuous extraction of task constraints in a robot programming by demonstration framework

Sylvain Calinon

Robot Programming by Demonstration (RbD), also referred to as Learning by Imitation, explores user-friendly means of teaching a robot new skills. Recent advances in RbD have identified a number of key-issues for ensuring a generic approach to the transfer ...

EPFL2007

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Sylvain Calinon, Teguh Santoso Lembono

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

IEEE2021

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

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

Aude Billard, Sylvain Calinon

This paper explores the issue of recognizing, generalizing and reproducing arbitrary gestures. We aim at extracting a representation that encapsulates only the key aspects of the gesture and discards the variability intrinsic to each person's motion. We co ...

2005

A Humanoid Robot Drawing Human Portraits

Aude Billard, Sylvain Calinon

This paper presents the creation of a robot capable of drawing artistic portraits. The application is purely entertaining and based on existing tools for face detection and image reconstruction, as well as classical tools for trajectory planning of a 4 DOF ...

2005

Dexterous Underwater Manipulation from Distant Onshore Locations

Sylvain Calinon, Ajay Kumar Tanwani

Underwater manipulation is a challenging problem. The state of the art is dominated by Remotely Operated Vehicles (ROV). ROV operations typically require an offshore crew consisting of at least an intendant, an operator, and a navigator. This crew often ha ...

2018

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

Sylvain Calinon, Teguh Santoso Lembono

In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consisten ...

IEEE2020

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

Aude Billard, Sylvain Calinon, Eric Sauser

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

What is the Teacher's Role in Robot Programming by Demonstration? - Toward Benchmarks for Improved Learning

Aude Billard, Sylvain Calinon

Robot programming by demonstration (RPD) covers methods by which a robot learns new skills through human guidance. We present an interactive, multimodal RPD framework using active teaching methods that places the human teacher in the robot's learning loop. ...

2007

Bayesian Gaussian mixture model for robotic policy imitation

Sylvain Calinon, Emmanuel Pignat

A common approach to learn robotic skills is to imitate a demonstrated policy. Due to the compounding of small errors and perturbations, this approach may let the robot leave the states in which the demonstrations were provided. This requires the considera ...

2019

Online Multicontact Receding Horizon Planning via Value Function Approximation

Sylvain Calinon, Teguh Santoso Lembono

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Learning Physical Collaborative Robot Behaviors from Human Demonstrations

Sylvain Calinon

Robots are becoming safe and smart enough to work alongside people not only on manufacturing production lines, but also in spaces such as houses, museums or hospitals. This can be significantly exploited in situations where a human needs the help of anothe ...

2016

Generative adversarial training of product of policies for robust and adaptive movement primitives

Sylvain Calinon, Emmanuel Pignat, Hakan Girgin

In learning from demonstrations, many generative models of trajectories make simplifying assumptions of independence. Correctness is sacrificed in the name of tractability and speed of the learning phase. The ignored dependencies, which are often the kinem ...

2020

Geometry-aware Manipulability Learning, Tracking and Transfer

Sylvain Calinon, Noémie Laure Gwendoline Jaquier

Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze, control and design ...

SAGE Publications2021