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Sylvain Calinon

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Publications associées (85)

Online Inference in Bayesian Non-Parametric Mixture Models under Small Variance Asymptotics

Sylvain Calinon, Ajay Kumar Tanwani

Adapting statistical learning models online with large scale streaming data is a challenging problem. Bayesian non-parametric mixture models provide flexibility in model selection, however, their widespread use is limited by the computational overhead of e ...

2016

A Tutorial on Task-Parameterized Movement Learning and Retrieval

Sylvain Calinon

Task-parameterized models of movements aims at automatically adapting movements to new situations encountered by a robot. The task parameters can for example take the form of positions of objects in the environment, or landmark points that the robot should ...

2016

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

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

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

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

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

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

A Probabilistic Programming by Demonstration Framework Handling Constraints in Joint Space and Task Space

Aude Billard, Sylvain Calinon

2008

A framework integrating statistical and social cues to teach a humanoid robot new skills

Aude Billard, Sylvain Calinon

Bringing robots as collaborative partners into homes presents various challenges to human-robot interaction. Robots will need to interact with untrained users in environments that are originally designed for humans. Compared to their industrial homologous ...

2008

Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations

Micha Hersch, Aude Billard, Sylvain Calinon, Florent Günter

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 ...

2008

Incremental Learning of Gestures by Imitation in a Humanoid Robot

Aude Billard, Sylvain Calinon

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 ...

2007

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

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

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

On Learning, Representing and Generalizing a Task in a Humanoid Robot

Aude Billard, Sylvain Calinon, Florent Günter

We present a Programming by Demonstration (PbD) framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to different contexts. We validate the architecture through a s ...

2007

Learning Dynamical System Modulation for Constrained Reaching Tasks

Micha Hersch, Aude Billard, Sylvain Calinon, Florent Günter

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 ...

2006

Teaching a Humanoid Robot to Recognize and Reproduce Social Cues

Aude Billard, Sylvain Calinon

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 ...

2006

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