Publications de Aude Billard | EPFL Graph Search

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In a Robot Programming by Demonstration framework, several demonstrations of a task are required to generalize and reproduce the task under different circumstances. To teach a task to the robot, explicit pointers are required to signal the start/end of a d ...

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 ...

During the International Conference on Robotics and Automation of 2024 in Yokohama, Japan, Efi Psomopoulou of the University of Bristol and Georgia Chalvatzaki of the Technical University of Damrstadt, both members of the IEEE Robotics and Automation Society (RAS)–Women in Engineering (WiE) Committee, sat down with RAS President Aude Billard to discuss issues raised by the committee members. The following are a synthesis of the conversation and often reject review invitations.

We present an approach to teach incrementally human gestures to a humanoid robot. The learning process consists of first projecting the movement data in a latent space and encoding the resulting signals in a Gaussian Mixture Model (GMM). We compare the per ...

This paper investigates the neural mechanisms of visuo-motor imitation in humans through convergent evidence from neuroscience. In particular, we consider a deficit in imitation following callosal brain lesion, based on the rational that looking at how imi ...

This paper develops a model-free method to estimate the dynamics of free-flying objects. We take a realistic perspective to the problem and investigate tracking accurately and very rapidly the trajectory and orientation of an object so as to catch it in fl ...

This paper introduces a hierarchical framework that is capable of learning complex sequential tasks from human demonstrations through kinesthetic teaching, with minimal human intervention. Via an automatic task segmentation and action primitive discovery a ...

This work investigates whether population vector coding could be a principle mechanism for sensorimotor transformations. This paper presents a formal demonstration of how population vector coding can proceed arbitrary 3- dimensional rotations and translations. The model suggests that population coding could be a possible mechanism for frames of reference transformations across multiple sensori- motor systems.

This paper presents a novel approach to real-time obstacle avoidance based on dynamical systems (DS) that ensures impenetrability of multiple convex shaped objects. The proposed method can be applied to perform obstacle avoidance in Cartesian and Joint spa ...

In this paper, we present a continuous attractor network model, which we hypothesize will give some suggestion of the mechanisms underlying several neural processes, such as velocity tuning to visual stimulus, sensory discrimination, sensorimotor-transform ...

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 ...

We present a biologically-inspired neural model addressing the problem of transformations across frames of reference in a posture imitation task. Our modeling is based on the hypothesis that imitation is mediated by two concurrent transformations selective ...

In this paper, we propose an asymptotically stable joint-space dynamical system that captures desired behaviors in joint-space while stably converging towards a task-space attractor. To encode joint-space behaviors while meeting the stability criteria, the ...

Coordinated control strategies for multi-robot systems are necessary for tasks that cannot be executed by a single robot. This encompasses tasks where the workspace of the robot is too small or where the load is too heavy for one robot to handle. Using mul ...

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 ...

Leading researchers debate the long-term influence of model-free methods that use large sets of demonstration data to train numerical generative models to control robots. ...

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 ...

Autism covers a large spectrum of disorders that affect the individual’s way of interacting socially and is often revealed by the individual’s lack of interest in gazing at human faces. Currently Autism is diagnosed in children no younger than 2 years old. ...

Bimanual grabbing and tossing of packages onto trays or conveyor belts remains a human activity in the industry. For robots, such a dynamic task requires coordination between two arms and fast adaptation abilities when the tossing target is moving and subj ...

We propose a novel controller for powered prosthetic arms, where fused EMG and gaze data predict the desired end-point for a full arm prosthesis, which could drive the forward motion of individual joints. We recorded EMG, gaze, and motion-tracking during p ...

Aude Billard

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Teaching a Humanoid Robot to Recognize and Reproduce Social Cues

Tactile Correction and Multiple Training Data Sources for Robot Motion Control

The RAS Women in Engineering Committee in Conversation With RAS President Aude Billard

Incremental Learning of Gestures by Imitation in a Humanoid Robot

A Neurocomputational Model of an Imitation Deficit following Brain Lesion

Estimating the non-linear dynamics of free-flying objects

Learning Complex Sequential Tasks from Demonstration: A Pizza Dough Rolling Case Study

Three dimensional frames of reference transformations using gain modulated populations of neurons

A Dynamical System Approach to Realtime Obstacle Avoidance

Dynamic Updating of Distributed Neural Representations using Forward Models

Reaching with Multi-Referential Dynamical Systems

Interferences in the Transformation of Reference Frames during a Posture Imitation Task

Learning Augmented Joint-Space Task-Oriented Dynamical Systems:A Linear Parameter Varying and Synergetic Control Approach

Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty (RSS 2016 Best Student Paper Award)

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

“Data will solve robotics and automation: True or false?”: A debate

Keyword Detection for Spontaneous Speech

WearCam: A head mounted wireless camera for monitoring gaze attention and for the diagnosis of developmental disorders in young children

Bimanual dynamic grabbing and tossing of objects onto a moving target

Intent Prediction Based on Biomechanical Coordination of EMG and Vision-Filtered Gaze for End-Point Control of an Arm Prosthesis