Seminars

The next research seminars have been celebrated related to Clothilde project:

Year 2020

Date and time Conductor Addressed topics  Bibliography
Friday 12/06/2020, 10h00 Fabio Strazzeri Topological representation of cloth state based on point configurations  

 

Year 2019

Date and time Conductor Addressed topics  Bibliography
Thusday 10/10/2019, 09h15 Alexandra Bac, Aldo Gonzalez-Lorenzo and Ludovic Grosse Presentation of work by Marseille group  
Thursday 05/09/2019, 10h00 Gionata Salvietti

Transferring human hand skills onto robots

  
Friday 19/07/2019, 10h00 Eren Aksoy

A Holistic View on Manipulation Semantics: From Robot Perception to Execution

  
Friday 12/04/2019, 10h00 Fabio Strazzeri Background of Fabio Strazzeri

 
Friday 29/03/2019, 10h00 Francisco Belchí Contributions of their work  
Friday 15/03/2019, 10h00 Jaume Amorós Surface reconstruction with kinect cloud points  
Friday 15/02/2019, 10h00 Adrià Colomé and Franco Coltraro Model based control using cloth simulation  
Friday 01/02/2019, 10h00 Franco Coltraro Advances in cloth simulation  

 

Year 2018

Date and time Conductor Addressed topics  Bibliography
Tuesday 11/12/2018, 12h00 Franco Coltraro Lecture and comment of Li 2015 Y. Li, Y. Yue, D. Xu, E. Grinspun, P. K. Allen, (2015) Folding Deformable Objects using Predictive Simulation and Trajectory Optimization, IROS
Tuesday 04/12/2018, 12h00 Júlia Borràs Grasping clothes  
Tuesday 20/11/2018, 12h00 Adrià Colomé Gaussian Processes Latent Variable Models
Adria explained how to		  
Tuesday 13/11/2018, 12h00 Francisco Belchí Using simulated data from Jordi of rectangular clothes picked from a point, collecting images and the 3D mesh, and training a deep nn to recover the 3D mesh of (both visible and invisible parts) of a 2D image of a cloth. For now, they take a rectangular cloth and use 2x3 point meshes.  
Tuesday 30/10/2018, 12h00 Franco Coltraro Franco explained the mathematical theory behind his model and showed some simulations.  
Tuesday 23/10/2018, 12h00 Rishabh Jangir

Rishabh introduced the cloth simulator he uses for learning in simulation (SOFA).

  
Tuesday 31/07/2018, 11h30      
Tuesday 24/07/2018, 11h30      
Tuesday 17/07/2018, 11h30 Júlia Borràs Lecture of articles about extrinsic dexterity i utilització de restriccions de l'entorn per a manipulació  
Tuesday 10/07/2018, 11h30 Jaume Amorós

State of the research about surface reconstruction
 
H. Wang, T. Komuram, (2012) Manipulation of Flexible Objects by Geodesic Control, Computer Graphics Forum, vol 31(2).
 
Jia, B., Hu, Z., Pan, J., & Manocha, D. (2018). Manipulating Highly Deformable Materials Using a Visual Feedback Dictionary. ICRA, 239-246.
Tuesday 03/07/2018, 11h30 Francisco Belchí Lecture of Chazal 2011 F. Chazal, L.J. Guibas, S.Y. Oudot, et al. Discrete Comput Geom (2011) 46: 743.
Tuesday 26/06/2018, 11h30 Jaume Amorós

Lecture of Miller 2011 and Yamakawa 2016
S. Miller, J. van den Berg, M. Fritz, T. Darrell, K. Goldberg and P. Abbeel (2011), A geometric approach to robotic laundry folding, The International Journal of Robotics Research, 31(2) 249–267
 
Y. Yamakawa, A.Namiki, and M. Ishikawa, (2016), Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator, Mechanical Engineering Journal, Vol.3, No.6
Tuesday 19/06/2018, 11h30 Adrià Colomé Lecture of Bai 2016 and Koganti 2017
Y. Bai, W. Yu, C. Karen Liu (2016), Dexterous Manipulation of Cloth, EUROGRAPHICS, Volume 35, n.2
 
N. Koganti, T. Tamei, K. Ikeda, and T. Shibata (2017), Bayesian Nonparametric Learning of Cloth Models for Real-Time State Estimation, IEEE Transactions on Robotics, Vol. 33, n.4
Tuesday 12/06/2018, 11h30 Jaume Amorós Surface recognition, comparing Dey with Li 2014 Li, Y., Wang, Y., Case, M., Chang, S., & Allen, P.K. (2014). Real-time pose estimation of deformable objects using a volumetric approach. IEEE/RSJ IROS, 1046-1052.
Tuesday 05/06/2018, 11h30 Francisco Belchí How to use persistent homology to numerically characterize medical images F. Belchi, M. Pirashvili, J. Conway, M. Bennett, R. Djukanovic & J. Brodzki (2018), Lung Topology Characteristics in patients with Chronic Obstructive Pulmonary Disease, Scientific Reports, 8, 5341
Tuesday 29/05/2018, 12h00 Albert Pumarola Presentation of Pumarola's last work A. Pumarola, A. Agudo, A.M. Martinez, A. Sanfeliu and F. Moreno-Noguer. (2018) GANimation: Anatomically-aware facial animation from a single image, ECCV, Vol 11214 of LNCS, pp. 835-851, 2018.
Wednesday 25/04/2018 Florian Pokorny Motion & Topology (Homotopy aware motion planning and clustering)  
Tuesday 24/04/2018 Florian Pokorny

Manipulation & Topology (Caging as an alternative Force Closure?)

  
Friday 20/04/2018, 11h30  

Reading of Prof. Pokorny articles

 F. T. Pokorny, M. Hawasly, S. Ramamoorthy (2016), Topological Trajectory Classification with Filtrations of Simplicial Complexes and Persistent Homology, International Journal of Robotics Research (IJRR)

F. T. Pokorny, D. Kragic (2015), Data-Driven Topological Motion Planning with Persistent Cohomology, Proceedings of Robotics: Science and Systems
Friday 13/04/2018, 11h30 Adrià Colomé Projections and periodic movements F. T. Pokorny, D. Kragic, L. E. Kavraki, K. Goldberg (2016), High-Dimensional Winding-Augmented Motion Planning with 2D Topological Task Projections and Persistent Homology, IEEE ICRA

M. Vejdemo-Johansson, F. T. Pokorny, P. Skraba, D. Kragic (2015) Cohomological learning of periodic motion, Applicable Algebra in Engineering, Communication and Computing
Friday 06/04/2018, 11h30 Júlia Borràs

Session about grasping
 
J. Mahler, F. T. Pokorny, S. Niyaz, K. Goldberg (2016) Synthesis of Energy-Bounded Planar Caging Grasps using Persistent Homology, WAFR
 
A.Varava, D. Kragic, F. T. Pokorny (2016), Caging Grasps of Rigid and Partially Deformable 3D Objects with Double Fork and Neck Features, IEEE Transactions on Robotics
 
Tuesday 20/03/2018, 12h00 Federico Thomas and Adrià Colomé

Reading of Li 2014

JavaPlex paquet and reading of Otter 2017
Li C., Ovsjanikov M., Chazal F. (2014) Persistence-based Structural Recognition, IEEE CVPR, art. no. 6909654 , pp. 2003-2010.
 
Otter N., Porter M.A., Tillmann U., Grindrod P. and Harrington H.A. (2017) A roadmap for the computation of persistent homology,  EPJ Data Science, 6:17
Tuesday 13/03/2018, 12h00   Progress in research topics and reading of Li 2014
Li C., Ovsjanikov M., Chazal F. (2014) Persistence-based Structural Recognition, IEEE CVPR, art. no. 6909654 , pp. 2003-2010.
Tuesday 06/03/2018, 12h00   Solving questions of previous sessions and reading of Carlsson 2014 (Sections 3.5-3.6) and Morse, and 3.7, 4.3

Carlsson G. (2014) Topological pattern recognition for point cloud data. Acta Numerica, 23: 289-368.
Tuesday 27/02/2018, 12h00 Adrià Colomé and Jaume Amorós

Session about applications and available SW packages

Lecture of Carlsson 2014 (Sections 5.1, 5.2 and 5.4) and Otter et al. 2017 (Section 7)

Carlsson G. (2014) Topological pattern recognition for point cloud data. Acta Numerica, 23: 289-368.

Otter N., Porter M.A., Tillmann U., Grindrod P. and Harrington H.A. (2017) A roadmap for the computation of persistent homology,  EPJ Data Science, 6:17
Tuesday 20/02/2018, 12h00 Jaume Amorós

Lecture of Ghrist 2008

Ghrist R. (2008) Barcodes: the persistent topology of data. Bulletin American Math. Society, 45(1), 61-75.
Tuesday 13/02/2018, 12h00 Adrià Colomé and Jaume Amorós
Adrià explains an idea about applying topologic features to trajectories codification
 
Jaume explains advances in curvature-based surface reconstructions
  
Tuesday 06/02/2018, 12h00 Jaume Amorós

Lecture of Carlsson 2014 (Sections 1 and 2)

Carlsson G. (2014) Topological pattern recognition for point cloud data. Acta Numerica, 23: 289-368.

Edelsbrunner H., Harer J. (2010) Computational Topology. An Introduction. Amer. Math. Soc.