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Sylvain Calinon

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Publications associées (85)

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Optimal Control Combining Emulation and Imitation to Acquire Physical Assistance Skills

Sylvain Calinon, Teguh Santoso Lembono, Amirreza Razmjoo Fard

paper studies exploiting action-level learning (imitation) in the optimal control problem context. Cost functions defined by the optimal control methods are similar to the goal-level learning (emulation) in animals. However, imitating the robot's or others ...

IEEE2021

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

Online Learning of Continuous Signed Distance Fields Using Piecewise Polynomials

Ante Maric, Yiming Li, Sylvain Calinon

Reasoning about distance is indispensable for establishing or avoiding contact in manipulation tasks. To this end, we present an online approach for learning implicit representations of signed distance using piecewise polynomial basis functions. Starting f ...

Ieee-Inst Electrical Electronics Engineers Inc2024

An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks

Sylvain Calinon

Humans use tools to complete impact-aware tasks, such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding a tool plays a ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation

Yiming Li, Sylvain Calinon, Amirreza Razmjoo Fard

In this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic chains. Our method employs a combination of Bernstein polynomials to encode ...

IEEE2024

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Sylvain Calinon, Tobias Löw

In this work, we are presenting an extension of the cooperative dual-task space (CDTS) in conformal geometric algebra. The CDTS was first defined using dual quaternion algebra and is a well established framework for the simplified definition of tasks using ...

IEEE2024

Robust contact-rich manipulation through implicit motor adaptation

Sylvain Calinon, Teng Xue, Suhan Narayana Shetty

Contact-rich manipulation plays an important role in daily human activities. However, uncertain physical parameters often pose significant challenges for both planning and control. A promising strategy is to develop policies that are robust across a wide r ...

SAGE Publications2025

Learning from demonstration using products of experts: Applications to manipulation and task prioritization

Sylvain Calinon, Emmanuel Pignat

Probability distributions are key components of many learning from demonstration (LfD) approaches, with the spaces chosen to represent tasks playing a central role. Although the robot configuration is defined by its joint angles, end-effector poses are oft ...

2021

Active Teaching in Robot Programming by Demonstration

Aude Billard, Sylvain Calinon

Robot Programming by Demonstration (RbD) covers methods by which a robot learns new skills through human guidance. In this work, we take the perspective that the role of the teacher is more important than just being a model of successful behaviour, and pre ...

2007

drozBot: Using Ergodic Control to Draw Portraits

Sylvain Calinon

We present drozBot: le robot portraitiste, a robotic system that draws artistic portraits of people. The input images for the portrait are taken interactively by the robot itself. We formulate the problem of drawing portraits as a problem of coverage which ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Tensor train for global optimization problems in robotics

Sylvain Calinon, Tobias Löw, Suhan Narayana Shetty

The convergence of many numerical optimization techniques is highly dependent on the initial guess given to the solver. To address this issue, we propose a novel approach that utilizes tensor methods to initialize existing optimization solvers near global ...

Sage Publications Ltd2023

Learning by Imitation with the STIFF-FLOP Surgical Robot: A Biomimetic Approach Inspired by Octopus Movements

Sylvain Calinon

Transferring skills from a biological organism to a hyper-redundant system is a challenging task, especially when the two agents have very different structure/embodiment and evolve in different environments. In this article we propose to address this probl ...

2014

A survey on policy search algorithms for learning robot controllers in a handful of trials

Sylvain Calinon

Most policy search algorithms require thousands of training episodes to find an effective policy, which is often infeasible with a physical robot. This survey article focuses on the extreme other end of the spectrum: how can a robot adapt with only a handf ...

2019

Robust pushing: Exploiting quasi-static belief dynamics and contact-informed optimization

Sylvain Calinon, Julius Maximilian Jankowski

Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under uncertainty difficu ...

SAGE PUBLICATIONS LTD2025

Learning Controllers for Reactive and Proactive Behaviors in Human-Robot Collaboration

Sylvain Calinon

Designed to safely share the same workspace as humans and assist them in various tasks, the new collaborative robots are targeting manufacturing and service applications that once were considered unattainable. The large diversity of tasks to carry out, the ...

2016

Learning Task Priorities from Demonstrations

Sylvain Calinon

As humanoid robots become increasingly popular, learning and control algorithms must take into account the new constraints and challenges inherent to these platforms, if we aim to fully exploit their potential. One of the most prominent of such aspects is ...

2019

A Probabilistic Programming by Demonstration Framework Handling 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. We propose an approach ...

2008

Optimization of robot configurations for motion planning in industrial riveting

Sylvain Calinon, Teguh Santoso Lembono, Hakan Girgin

Collaborative robots (cobots) have been increasingly used in the industry in recent years. The cobots are often 7-axis kinematically redundant manipulators. Exploiting these redundancies in industrial tasks is still a challenge as the change in the robot j ...

IEEE2021

Active Learning of Bayesian Probabilistic Movement Primitives

Jean-Marc Odobez, Sylvain Calinon, Hakan Girgin, Thibaut Antoine Kulak

Learning from Demonstration permits non-expert users to easily and intuitively reprogram robots. Among approaches embracing this paradigm, probabilistic movement primitives (ProMPs) are a well-established and widely used method to learn trajectory distribu ...

IEEE2021

Fourier movement primitives: an approach for learning rhythmic robot skills from demonstrations

Sylvain Calinon, Thibaut Antoine Kulak

Whether in factory or household scenarios, rhythmic movements play a crucial role in many daily-life tasks. In this paper we propose a Fourier movement primitive (FMP) representation to learn such type of skills from human demonstrations. Our approach take ...

2020