This page presents publications on robot learning from the Learning and Interaction Lab, Department of Advanced Robotics, Italian Institute of Technology (IIT), and from the Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique Federale de Lausanne (EPFL).
Click on the publication title to access the PDF and other information details.
2013
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 Calinon, S., Kormushev, P. and Caldwell, D. G. (2013). Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning. Robotics and Autonomous Systems 61:4, 369-379.
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Rozo, L., Calinon, S., Caldwell, D.G., Jimenez, P. and Torras, C. (2013). Learning collaborative impedance-based robot behaviors. Proceedings of the AAAI Conference on Artificial Intelligence. |
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Bruno, D., Calinon, S. and Caldwell, D.G. (2013). Bayesian nonparametric multi-optima policy search in reinforcement learning. Proceedings of the AAAI Conference on Artificial Intelligence. |
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Rozo, L., Jimenez, P. and Torras, C. (2013). Force-based Robot Learning of Pouring Skills using Parametric Hidden Markov Models. IEEE-RAS Intl Workshop on Robot Motion and Control (RoMoCo). |
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2012
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De Tommaso, D., Calinon, S. and Caldwell, D.G. (2012). A Robotized Projective Interface for Human-Robot Learning Scenarios. Cybernetics And Information Technologies. |
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De Tommaso, D., Calinon, S. and Caldwell, D.G. (2012). A tangible interface for transferring skills using perception and projection capabilities in human-robot collaboration tasks. Intl Journal of Social Robotics, Special Issue on Learning from Demonstration. |
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Zappi, V., Pistillo, A., Calinon, S., Brogni, A. and Caldwell, D.G. (2012). Music Expression with a Robot Manipulator Used as a Bidirectional Tangible Interface. EURASIP Journal on Audio, Speech, and Music Processing (SpringerOpen), Special Issue on Music Content Processing by and for Robots, 2012:2, 1-11. |
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Calinon, S., Li, Z., Alizadeh, T., Tsagarakis, N.G. and Caldwell, D.G. (2012). Statistical dynamical systems for skills acquisition in humanoids. In Proceedings of the Intl Conf. on Humanoid Robots (Humanoids). |
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Lee, S.H., Suh, I.H., Calinon, S. and Johansson, R. (2012). Learning Basis Skills by Autonomous Segmentation of Humanoid Motion Trajectories. In Proceedings of the Intl Conf. on Humanoid Robots (Humanoids). |
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Calinon, S., Pervez, A. and Caldwell, D. G. (2012). Multi-optima exploration with adaptive Gaussian mixture model. In Proceedings of the Intl Conf. on Development and Learning (ICDL-EpiRob). |
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Calinon, S., Li, Z., Alizadeh, T., Tsagarakis, N.G. and Caldwell, D.G. (2012). Teaching of bimanual skills in a compliant humanoid robot. Intl Workshop on Human-Friendly Robotics (HFR). |
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Kormushev, P., Calinon, S., Ugurlu, B. and Caldwell, D. G. (2012). Challenges for the Policy Representation when Applying Reinforcement Learning in Robotics. In Proceedings of the Intl Joint Conf. on Neural Networks (IJCNN). |
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De Tommaso, D., Calinon, S. and Caldwell, D. G. (2012). Using Compliant Robots as Projective Interfaces in Dynamic Environments. In Proceedings of the Intl Conf. on Social Robotics (ICSR), LNAI 7621, Springer-Verlag. |
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2011
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Calinon, S., Pistillo, A. and Caldwell, D.G. (2011). Encoding the time and space constraints of a task in explicit-duration Hidden Markov Model. In Proceedings of the IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS). |
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Pistillo, A., Calinon, S. and Caldwell, D.G. (2011). Bilateral Physical Interaction with a Robot Manipulator through a
Weighted Combination of Flow Fields. In Proceedings of the IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS). |
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Kormushev, P., Ugurlu, B., Calinon, S., Tsagarakis, N. and Caldwell, D.G. (2011). Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization. In Proceedings of the IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS). |
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Kormushev, P., Nenchev, D.N., Calinon, S. and Caldwell, D.G. (2011). Upper-body Kinesthetic Teaching of a Free-standing Humanoid Robot. In Proceedings of the IEEE Intl Conference on Robotics and Automation (ICRA). |
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2010
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Kormushev, P., Calinon, S. and Caldwell, D.G. (2010). Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input. RSJ Advanced Robotics, 25:5, 581-603. |
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Calinon, S., D'halluin, F., Sauser, E.L., Caldwell, D.G. and Billard, A.G. (2010). Learning and reproduction of gestures by imitation: An approach based on Hidden Markov Model and Gaussian Mixture Regression. IEEE Robotics and Automation Magazine, 17:2, 44-54. |
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Kormushev, P., Calinon, S. and Caldwell, D.G. (2010). Approaches for Learning Human-like Motor Skills which Require Variable Stiffness During Execution. IEEE Intl Conf. on Humanoid Robots (Humanoids), Workshop on Humanoid Robots Learning from Human Interaction. |
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Kormushev, P., Calinon, S., Saegusa, R. and Metta, G. (2010). Learning the skill of archery by a humanoid robot iCub. In Proceedings of the IEEE Intl Conf. on Humanoid Robots (Humanoids). |
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Calinon, S., Sardellitti, I. and Caldwell, D.G. (2010). Learning-based control strategy for safe human-robot interaction exploiting task and robot redundancies. In Proceedings of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS). |
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Kormushev, P., Calinon, S. and Caldwell, D.G. (2010). Robot Motor Skill Coordination with EM-based Reinforcement Learning. In Proceedings of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS). |
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Calinon, S., Sauser, E.L., Billard, A.G. and Caldwell, D.G. (2010). Evaluation of a probabilistic approach to learn and reproduce gestures by imitation. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, pp. 2381-2388. |
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Calinon, S., Sauser, E.L., D'halluin, F., Billard, A.G. and Caldwell, D.G. (2010). A learning by imitation model handling multiple constraints and motion alternatives. International Conference on Cognitive Systems (CogSys), Zuerich, Switzerland. |
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2009
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Calinon, S. (2009). Robot Programming by Demonstration: A Probabilistic Approach. EPFL/CRC Press. |
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Calinon, S. and Billard, A. (2009). Statistical Learning by Imitation of Competing Constraints in Joint Space
and Task Space. RSJ Advanced Robotics, 23, 2059-2076. |
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Calinon, S., D'halluin, F., Caldwell, D.G. and Billard, A. (2009). Handling of multiple constraints and motion alternatives in a robot programming by demonstration framework. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), Paris, France, pp. 582-588. |
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Evrard, P., Gribovskaya, E., Calinon, S., Billard, A. and Kheddar, A. (2009). Teaching physical collaborative tasks:
Object-lifting case study with a humanoid. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), Paris, France, pp. 399-404. |
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Weiss, A., Igelsboeck, J., Calinon, S., Billard, A. and Tscheligi, M. (2009). Teaching a Humanoid: A User Study on Learning by Demonstration with HOAP-3. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication
(Ro-Man), Toyama, Japan, pp. 147-152. |
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Calinon, S., Evrard, P., Gribovskaya, E., Billard A. and Kheddar, A. (2009). Learning collaborative manipulation tasks by demonstration using a haptic interface. In Proceedings of the Intl Conf. on Advanced Robotics (ICAR), Munich, Germany, pp. 1-6. |
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2008
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Billard, A., Calinon, S., Dillmann R. and Schaal, S. (2008). Robot Programming by Demonstration. Siciliano, B. and Khatib, O. (eds.). Handbook of Robotics, pp. 1371-1394. Springer.
(book winner of two PROSE awards) |
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Hersch, M., Guenter, F., Calinon, S. and Billard, A. (2008). Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations. IEEE Transactions on Robotics, 24:6, 1463-1467. |
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Calinon, S. and Billard, A. (2008). A Probabilistic Programming by Demonstration Framework Handling Constraints in Joint Space and Task Space. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, pp. 367-372. |
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Calinon, S. and Billard, A. (2008). A framework integrating statistical and social cues to teach a humanoid robot new skills. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Workshop on Social Interaction with Intelligent Indoor Robots. |
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2007
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Calinon, S. and Billard, A. (2007). Learning of Gestures by Imitation in a Humanoid Robot. Dautenhahn, K. and Nehaniv, C.L. (eds.). Imitation and Social Learning in Robots, Humans and Animals: Behavioural, Social and Communicative Dimensions, pp. 153-177. Cambridge University Press. |
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Guenter, F., Hersch, M., Calinon, S. and Billard, A. (2007). Reinforcement Learning for Imitating Constrained Reaching Movements. RSJ Advanced Robotics, Special Issue on Imitative Robots, 21:13, 1521-1544. |
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Calinon, S. and Billard, A. (2007). What is the Teacher's Role in Robot Programming by Demonstration? - Toward Benchmarks for Improved Learning. Interaction Studies, Special Issue on Psychological Benchmarks in Human-Robot Interaction, 8:3, 441-464. |
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Calinon, S., Guenter, F. and Billard, A. (2007). On Learning, Representing and Generalizing a Task in a Humanoid Robot. IEEE Transactions on Systems, Man and Cybernetics, Part B, Special issue on robot learning by observation, demonstration and imitation, 37:2, 286-298. |
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Calinon, S. and Billard, A. (2007). Active Teaching in Robot Programming by Demonstration. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 702-707.
(RO-MAN'07 best paper award) |
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Calinon, S. and Billard, A. (2007). Incremental Learning of Gestures by Imitation in a Humanoid Robot. In Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), pp. 255-262. |
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Calinon, S. (2007). Continuous Extraction of Task Constraints in a Robot Programming by Demonstration Framework. PhD thesis, Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique Federale de Lausanne (EPFL). |
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2006
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Billard, A., Calinon, S. and Guenter, F. (2006). Discriminative and Adaptive Imitation in Uni-Manual and Bi-Manual Tasks. Robotics and Autonomous Systems, 54:5, 370-384. |
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Hersch, M., Guenter, F., Calinon, S. and Billard, A. (2006). Learning Dynamical System Modulation for Constrained Reaching Tasks. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 444-449. |
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Calinon, S. and Billard, A. (2006). Teaching a Humanoid Robot to Recognize and Reproduce Social Cues. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 346-351. |
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Calinon, S., Guenter, F. and Billard, A. (2006). On Learning the Statistical Representation of a Task and Generalizing it to Various Contexts. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2978-2983. |
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2005
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Calinon, S., Epiney, J. and Billard, A. (2005). A Humanoid Robot Drawing Human Portraits. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, pp. 161-166. |
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Calinon, S. and Billard, A. (2005). Recognition and Reproduction of Gestures using a Probabilistic Framework combining PCA, ICA and HMM. In Proceedings of the International Conference on Machine Learning (ICML), pp. 105-112. |
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Calinon, S., Guenter, F. and Billard, A. (2005). Goal-Directed Imitation in a Humanoid Robot. In Proceedings of the International Conference on Robotics and Automation (ICRA), pp. 299-304. |
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Calinon, S. and Billard, A. (2005). Learning of Gestures by Imitation in a Humanoid Robot. International Symposium on Imitation in Animals and Artifacts
(AISB), Hatfield, UK. |
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2004
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Billard, A., Epars, Y., Calinon, S., Cheng, G. and Schaal, S. (2004). Discovering Optimal Imitation Strategies. Robotics and Autonomous Systems, Special Issue: Robot Learning from Demonstration, 47:2-3, 69-77. |
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Calinon, S. and Billard, A. (2004). Stochastic Gesture Production and Recognition Model for a Humanoid Robot. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2769-2774. |
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Calinon, S. and Billard, A. (2004). Gesture Recognition and Reproduction for a Humanoid Robot using Hidden Markov Models. AMI/PASCAL/IM2/M4 Workshop on Multimodal Interaction and Related Machine Learning Algorithms. |
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2003
