Sylvain Calinon

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List of publications

List of publications

Updated May 29th 2014


This list contains publications from the Robot Learning and Interaction Group, Idiap Research Institute, 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 title or image to access publication details (pdfs, links, videos and source codes).


2014

 Malekzadeh, M.S., Calinon, S., Bruno, D. and Caldwell, D.G. (2014). Learning by Imitation with the STIFF-FLOP Surgical Robot: A Biomimetic Approach Inspired by Octopus Movements. Robotics and Biomimetics 1:13, 1-15, Special Issue on Medical Robotics (Springer). [pdf]

 Lee, S.H., Suh, I.H., Calinon, S. and Johansson, R. (2014). Autonomous Framework for Segmenting Robot Trajectories of Manipulation Task. Autonomous Robots (Springer). [pdf]

 Calinon, S., Bruno, D., Malekzadeh, M.S., Nanayakkara, T. and Caldwell, D.G. (2014). Human-robot skills transfer interfaces for a flexible surgical robot. Computer Methods and Programs in Biomedicine 116:2, 81-96, Special issue on new methods of human-robot interaction in medical practice (Elsevier). [pdf]

 Malekzadeh, M.S., Calinon, S., Bruno, D. and Caldwell, D.G. (2014). A Skill Transfer Approach for Continuum Robots - Imitation of Octopus Reaching Motion with the STIFF-FLOP Robot. In Proc. of the AAAI Symp. on Knowledge, Skill, and Behavior Transfer in Autonomous Robots, Arlington, VA, USA, pp. 49-52. [pdf]

 Calinon, S. (2014). Skills Learning in Robots by Interaction with Users and Environment. In Proc. of the Intl Conf. on Ubiquitous Robots and Ambient Intelligence (URAI), Kuala Lumpur, Malaysia, pp. 161-162. [pdf]

 Bruno, D., Calinon, S. and Caldwell, D.G. (2014). Learning Adaptive Movements from Demonstration and Self-Guided Exploration. In Proc. of the IEEE Intl Conf. on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), Genoa, Italy, pp. 160-165. [pdf]

 Rozo, L., Calinon, S. and Caldwell, D.G. (2014). Learning Force and Position Constraints in Human-robot Cooperative Transportation. In Proc. of the IEEE Intl Symp. on Robot and Human Interactive Communication (Ro-Man), Edinburgh, Scotland, UK, pp. 619-624. [pdf] [code]

Calinon, S., Bruno, D. and Caldwell, D.G. (2014). A task-parameterized probabilistic model with minimal intervention control. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Hong Kong, China, pp. 3339-3344. [pdf] [code]

Bruno, D., Calinon, S. and Caldwell, D.G. (2014). Null space redundancy learning for a flexible surgical robot. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Hong Kong, China, pp. 2443-2448. [pdf]

Alizadeh, T., Calinon, S. and Caldwell, D.G. (2014). Learning from demonstrations with partially observable task parameters. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Hong Kong, China, pp. 3309-3314. [pdf] [code]


2013

Kormushev, P., Calinon, S. and Caldwell, D. G. (2013). Reinforcement learning in robotics: Applications and real-world challenges. Robotics 2:3, 122-148. [pdf]

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. [pdf]

Calinon, S., Alizadeh, T. and Caldwell, D.G. (2013). On improving the extrapolation capability of task-parameterized movement models. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, pp. 610-616. [pdf] [code]
(CoTeSys Cognitive Robotics Best Paper Award Finalist)

Malekzadeh, M.S., Bruno, D., Calinon, S., Nanayakkara, T. and Caldwell, D.G. (2013). Skills transfer across dissimilar robots by learning context-dependent rewards. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, pp. 1746-1751. [pdf]

Rozo, L., Calinon, S., Caldwell, D.G., Jimenez, P. and Torras, C. (2013). Learning collaborative impedance-based robot behaviors. In Proc. of the AAAI Conference on Artificial Intelligence, Bellevue, WA, USA, pp. 1422-1428. [pdf] [code]

Bruno, D., Calinon, S. and Caldwell, D.G. (2013). Bayesian nonparametric multi-optima policy search in reinforcement learning. In Proc. of the AAAI Conference on Artificial Intelligence, Bellevue, WA, USA, pp. 1374-1380. [pdf]

Rozo, L., Jimenez, P. and Torras, C. (2013). Force-based robot learning of pouring skills using parametric hidden Markov models. In Proc. of the IEEE-RAS Intl Workshop on Robot Motion and Control (RoMoCo), Wasowo, Poland, pp. 227-232. [pdf] [code]


2012

De Tommaso, D., Calinon, S. and Caldwell, D.G. (2012). A Robotized Projective Interface for Human-Robot Learning Scenarios. Cybernetics And Information Technologies 12:3, 96-106. [pdf]

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 4:4, 397-408, Special Issue on Learning from Demonstration (Springer). [pdf]

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 2012:2, 1-11, Special Issue on Music Content Processing by and for Robots (Springer). [pdf]

Calinon, S., Li, Z., Alizadeh, T., Tsagarakis, N.G. and Caldwell, D.G. (2012). Statistical dynamical systems for skills acquisition in humanoids. In Proc. of the IEEE Intl Conf. on Humanoid Robots (Humanoids), Osaka, Japan, pp. 323-329. [pdf] [code]

Lee, S.H., Suh, I.H., Calinon, S. and Johansson, R. (2012). Learning Basis Skills by Autonomous Segmentation of Humanoid Motion Trajectories. In Proc. of the IEEE Intl Conf. on Humanoid Robots (Humanoids), Osaka, Japan, pp. 112-119. [pdf]

Calinon, S., Pervez, A. and Caldwell, D. G. (2012). Multi-optima exploration with adaptive Gaussian mixture model. In Proc. of the Intl Conf. on Development and Learning (ICDL-EpiRob), San Diego, CA, USA, pp. 1-6. [pdf]

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), Brussels, Belgium. [pdf]

Kormushev, P., Calinon, S., Ugurlu, B. and Caldwell, D. G. (2012). Challenges for the Policy Representation when Applying Reinforcement Learning in Robotics. In Proc. of the Intl Joint Conf. on Neural Networks (IJCNN), Brisbane, Australia, pp. 2819-2826. [pdf]

De Tommaso, D., Calinon, S. and Caldwell, D. G. (2012). Using Compliant Robots as Projective Interfaces in Dynamic Environments. In Proc. of the Intl Conf. on Social Robotics (ICSR), LNAI 7621, Springer-Verlag, pp. 338-347. [pdf]


2011

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 Proc. of the IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, pp. 3413-3418. [pdf] [code]

Pistillo, A., Calinon, S. and Caldwell, D.G. (2011). Bilateral Physical Interaction with a Robot Manipulator through a Weighted Combination of Flow Fields. In Proc. of the IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, pp. 3047-3052. [pdf] [code]

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 Proc. of the IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, pp. 318-324. [pdf]

Kormushev, P., Nenchev, D.N., Calinon, S. and Caldwell, D.G. (2011). Upper-body Kinesthetic Teaching of a Free-standing Humanoid Robot. In Proc. of the IEEE Intl Conference on Robotics and Automation (ICRA), Shanghai, China, pp. 3970-3975. [pdf]


2010

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. [pdf]

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. [pdf] [code]

Kormushev, P., Calinon, S. and Caldwell, D.G. (2010). Approaches for Learning Human-like Motor Skills which Require Variable Stiffness During Execution. In Proc. of the IEEE Intl Conf. on Humanoid Robots (Humanoids), Workshop on Humanoid Robots Learning from Human Interaction, Nashville, TN, USA. [pdf]

Kormushev, P., Calinon, S., Saegusa, R. and Metta, G. (2010). Learning the skill of archery by a humanoid robot iCub. In Proc. of the IEEE Intl Conf. on Humanoid Robots (Humanoids), Nashville, TN, USA, pp. 417-423. [pdf]

Calinon, S., Sardellitti, I. and Caldwell, D.G. (2010). Learning-based control strategy for safe human-robot interaction exploiting task and robot redundancies. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pp. 249-254. [pdf] [code]

Kormushev, P., Calinon, S. and Caldwell, D.G. (2010). Robot Motor Skill Coordination with EM-based Reinforcement Learning. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pp. 3232-3237. [pdf] [code]

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 Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Anchorage, Alaska, USA, pp. 2381-2388. [pdf] [code]

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. [pdf] [code]


2009

Calinon, S. (2009). Robot Programming by Demonstration: A Probabilistic Approach. EPFL Press ISBN 978-2-940222-31-5, CRC Press ISBN 978-1-4398-0867-2.

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. [pdf] [code]

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 Proc. of the IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), Paris, France, pp. 582-588. [pdf] [code]
(Best Paper Award Finalist)

Evrard, P., Gribovskaya, E., Calinon, S., Billard, A. and Kheddar, A. (2009). Teaching physical collaborative tasks: Object-lifting case study with a humanoid. In Proc. of the IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), Paris, France, pp. 399-404. [pdf] [code]

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 Proc. of the IEEE Intl Symp. on Robot and Human Interactive Communication (Ro-Man), Toyama, Japan, pp. 147-152. [pdf]

Calinon, S., Evrard, P., Gribovskaya, E., Billard A. and Kheddar, A. (2009). Learning collaborative manipulation tasks by demonstration using a haptic interface. In Proc. of the Intl Conf. on Advanced Robotics (ICAR), Munich, Germany, pp. 1-6. [pdf]


2008

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. [pdf]
(book winner of two PROSE Awards)

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. [pdf]

Calinon, S. and Billard, A. (2008). A Probabilistic Programming by Demonstration Framework Handling Constraints in Joint Space and Task Space. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Nice, France, pp. 367-372. [pdf] [code]

Calinon, S. and Billard, A. (2008). A framework integrating statistical and social cues to teach a humanoid robot new skills. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Workshop on Social Interaction with Intelligent Indoor Robots, Pasadena, CA, USA. [pdf]


2007

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. [pdf]

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. [pdf]

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. [pdf] [code]

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. [pdf] [code]

Calinon, S. and Billard, A. (2007). Active Teaching in Robot Programming by Demonstration. In Proc. of the IEEE Intl Symp. on Robot and Human Interactive Communication (RO-MAN), Jeju, Korea, pp. 702-707. [pdf]
(RO-MAN'07 Best Paper Award)

Calinon, S. and Billard, A. (2007). Incremental Learning of Gestures by Imitation in a Humanoid Robot. In Proc. of the ACM/IEEE Intl Conf. on Human-Robot Interaction (HRI), Arlington, VA, USA, pp. 255-262. [pdf] [code]

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).


2006

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. [pdf]

Hersch, M., Guenter, F., Calinon, S. and Billard, A. (2006). Learning Dynamical System Modulation for Constrained Reaching Tasks. In Proc. of the IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), Genova, Italy, pp. 444-449. [pdf]

Calinon, S. and Billard, A. (2006). Teaching a Humanoid Robot to Recognize and Reproduce Social Cues. In Proc. of the IEEE Intl Symp. on Robot and Human Interactive Communication (Ro-Man), Hatfield, UK, pp. 346-351. [pdf] [code]

Calinon, S., Guenter, F. and Billard, A. (2006). On Learning the Statistical Representation of a Task and Generalizing it to Various Contexts. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Orlando, FL, USA, pp. 2978-2983. [pdf]


2005

Calinon, S., Epiney, J. and Billard, A. (2005). A Humanoid Robot Drawing Human Portraits. In Proc. of the IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), Tsukuba, Japan, pp. 161-166. [pdf]

Calinon, S. and Billard, A. (2005). Recognition and Reproduction of Gestures using a Probabilistic Framework combining PCA, ICA and HMM. In Proc. of the Intl Conf. on Machine Learning (ICML), Bonn, Germany, pp. 105-112. [pdf] [code]

Calinon, S., Guenter, F. and Billard, A. (2005). Goal-Directed Imitation in a Humanoid Robot. In Proc. of the Intl Conf. on Robotics and Automation (ICRA), Barcelona, Spain, pp. 299-304. [pdf]

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.


2004

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. [pdf]

Calinon, S. and Billard, A. (2004). Stochastic Gesture Production and Recognition Model for a Humanoid Robot. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Sendai, Japan, pp. 2769-2774. [pdf]

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. [pdf]


2003

Calinon, S. and Billard, A. (2003). PDA Interface for Humanoid Robots. In Proc. of the IEEE Intl Conf. on Humanoid Robots (Humanoids), Karlsruhe, Germany, pp. 1-16. [pdf]

Calinon, S. (2003). PDA Interface for Humanoid Robots using Speech and Vision Processing. MSc thesis, Autonomous Systems Laboratory (ASL), Ecole Polytechnique Federale de Lausanne (EPFL).