Publications by Sylvain Calinon

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This paper presents an architecture for solving generically the problem of extracting the relevant features of a given task in a programming by demonstration framework and the problem of generalizing the acquired knowledge to various contexts. We validate ...

In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm based on Gaussian Mixture Regression, the task constraints ar ...

This paper presents a study on the use of the Talos humanoid robot for performing assistive sit-to-stand or stand-to-sit tasks. In such tasks, the human exerts a large amount of force (100-200 N) within a very short time (2-8 s), posing significant challen ...

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 ...

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 ...

We present a system for robust robot skill acquisition from kinesthetic demonstrations. This system allows a robot to learn a simple goal-directed gesture, and correctly reproduce it despite changes in the initial conditions, and perturbations in the envir ...

Teleoperation in domains such as deep-sea or space often requires the completion of a set of recurrent tasks. We present a framework that uses a probabilistic approach to learn from demonstration models of manipulation tasks. We show how such a framework c ...

Our work aims at developing a robust discriminant controller for robot programming by demonstration. It addresses two core issues of imitation learning, namely "what to imitate" and "how to imitate". This paper presents a method by which a robot extracts t ...

Sylvain Calinon

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On Learning the Statistical Representation of a Task and Generalizing it to Various Contexts

Learning Dynamical System Modulation for Constrained Reaching Tasks

Learning Joint Space Reference Manifold for Reliable Physical Assistancey

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

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

Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations

Learning from demonstration for semi-autonomous teleoperation

Goal-Directed Imitation in a Humanoid Robot

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

PDA Interface for Humanoid Robots using Speech and Vision Processing

Combining Social and Intrinsically-Motivated Learning for Multi-Task Robot Skill Acquisition

A Laser-based Dual-arm System for Precise Control of Collaborative Robots