Publications

  

Journal Publications

  1. F. Amadio, A. Colomé and C. Torras. Exploiting symmetries in reinforcement learning of bimanual robotic tasks. IEEE Robotics and Automation Letters, 4(2): 1838-1845, 2019.  More info

  2. F. Amadio, J.A. Delgado-Guerrero, A. Colomé and C. Torras. Controlled Gaussian process dynamical models with application to robotic cloth manipulation. International Journal of Dynamics and Control, 11: 3209-3219, 2023. More info

  3. A. Andriella, R. Huertas, S. Forgas, C. Torras and G. Alenyà. “I know how you feel” The importance of interaction style on users’ acceptance in an entertainment scenario. Interaction Studies: Social Behaviour and Communication in Biological and Artificial Systems, 23(1): 21-57, 2022. More info

  4. A. Andriella, H. Siqueira, D. Fu, S. Magg, P. Barros, S. Wermter, C. Torras and G. Alenyà. Do I have a personality? Endowing care robots with context-dependent personality traits. International Journal of Social Robotics, 13(8): 2081-2102, 2021 More info

  5. A. Andriella, C. Torras, C. Abdelnour and G. Alenyà. Introducing CARESSER: A framework for in situ learning robot social assistance from expert knowledge and demonstrations. User Modeling and User-Adapted Interaction, 33: 441-496, 2023. More info

  6. M. Arduengo, A. Colomé, J. Borràs, L. Sentis and C. Torras. Task-adaptive robot learning from demonstration with Gaussian process models under replication. IEEE Robotics and Automation Letters, 6(2): 966-973, 2021. More info

  7. M. Arduengo, A. Colomé, J. Lobo, L. Sentis and C. Torras. Gaussian-process-based learning from demonstration. Journal of Ambient Intelligence and Humanized Computing, 2023, to appear. More info

  8. D. Blanco-Mulero, O. Barbany, G. Alcan, A. Colomé, C. Torras and V. Kyrki. Benchmarking the sim-to-real gap in cloth manipulation. IEEE Robotics and Automation Letters, 9(3): 2981-2988, 2024. More info

  9. J. Borràs, G. Alenyà and C. Torras. A grasping-centered analysis for cloth manipulation. IEEE Transactions on Robotics, 36(3): 924-936, 2020 More info

  10. E. Caldarelli, A. Colomé and C. Torras. Perturbation-based stiffness inference in variable impedance control. IEEE Robotics and Automation Letters, 7(4): 8823-8830, 2022. More info

  11. G. Canal, C. Torras and G. Alenyà. Generating predicate suggestions based on the space of plans: an example of planning with preferences. User Modeling and User-Adapted Interaction, 33: 333-357, 2023 More info

  12. G. Canal, C. Torras and G. Alenyà. Are preferences useful for better assistance?: A physically assistive robotics user study. ACM Transactions on Human-Robot Interaction, 10(4): 1-19, 2021 More info

  13. A. Colomé and C. Torras. A topological extension of movement primitives for curvature modulation and sampling of robot motion. Autonomous Robots, 45: 725-735, 2021 More info

  14. A. Colomé and C. Torras. Dimensionality reduction for dynamic movement primitives and application to bimanual manipulation of clothes. IEEE Transactions on Robotics, 34(3): 602-615, 2018. More info

  15. A. Colomé and C. Torras. Dimensionality reduction in learning Gaussian mixture models of movement primitives for contextualized action selection and adaptation. IEEE Robotics and Automation Letters, 3(4): 3922-3929, 2018.  More info

  16. F. Coltraro, J. Amorós, M. Alberich-Carramiñana and C. Torras. A novel collision model for inextensible textiles and its experimental validation. Applied Mathematical Modelling, 128: 287-308, 2024. More info

  17. F. Coltraro, J. Amorós, M. Alberich-Carramiñana and C. Torras. An inextensible model for the robotic manipulation of textiles. Applied Mathematical Modelling, 101: 832-858, 2022. More info

  18. F. Coltraro, J. Fontana, J. Amorós, M. Alberich-Carramiñana, J. Borràs and C. Torras. A representation of cloth states based on a derivative of the Gauss Linking Integral. Applied Mathematics and Computation, 457: 128165, 2023.

  19. S. Donaire, J. Borràs, G. Alenyà, C. Torras, A versatile gripper for cloth manipulation, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Robotics and Automation Letters, 2020 More info

  20. S. Forgas, R. Huertas, A. Andriella and G. Alenyà. Does the personality of consumers influence the assessment of the experience of interaction with social robots?. International Journal of Social Robotics, 2023, to appear.More info

  21. S. Forgas, R. Huertas, A. Andriella and G. Alenyà. Gendered human–robot interactions in services. International Journal of Social Robotics, 15(11): 1791-1807, 2023. More info

  22. S. Forgas, R. Huertas, A. Andriella and G. Alenyà. How do consumers' gender and rational thinking affect the acceptance of entertainment social robots?. International Journal of Social Robotics, 14: 973–994, 2022. More info

  23. S. Forgas, R. Huertas, A. Andriella and G. Alenyà. Social robot-delivered customer-facing services: an assessment of the experience. The Service Industries Journal, 43(3): 154-184, 2023.

  24. S. Forgas, R. Huertas, A. Andriella and G. Alenyà. The effects of gender and personality of robot assistants on customers’ acceptance of their service. Service Bussiness, 16: 359–389, 2022. More info

  25. I. Garcia-Camacho, J. Borràs, B. Calli, A. Norton and G. Alenyà. Household cloth object set: Fostering benchmarking in deformable object manipulation. IEEE Robotics and Automation Letters, 7(3): 5866-5873, 2022. More info

  26. I. Garcia-Camacho, M. Lippi, M.C. Welle, H. Yin, R. Antanova, A. Varava, J. Borràs Sol, C. Torras, A. Marino, G. Alenyà and D. Kragic. Benchmarking bimanual cloth manipulation. IEEE Robotics and Automation Letters, 5(2): 1111-1118, 2020. More info

  27. P. Jiménez. Learning in autonomous and intelligent systems: Overview and biases from data sources. Arbor - Ciencia, Pensamiento y Cultura, 197(802): a627, 2022. More info

  28. P. Jiménez, C. Torras, Perception of cloth in assistive robotic manipulation tasks. Natural Computing, 409-431, 2020  More info

  29. A. Luque, D. Parent, A. Colomé, C. Ocampo-Martínez and C. Torras. Model predictive control for dynamic cloth manipulation: Parameter learning and experimental validation. IEEE Transactions on Control Systems Technology: 1-17, 2024, to appear. More info

  30. M.A. Roa, M.R. Dogar, J. Pagès, C. Vivas, A. Morales, N. Correll, M. Görner, J. Rosell, S. Foix, R. Memmesheier and F. Ferro. Mobile manipulation hackathon: moving into real world applications. IEEE Robotics and Automation Magazine, 28(2): 112-124, 2021. More info

  31. F. Strazzeri and C. Torras. Topological representation of cloth state for robot manipulation. Autonomous Robots, 45: 737–754, 2021.  More info

  32. C. Torras. Assistive robotics: Research challenges and ethics education initiatives. DILEMATA: International Journal of Applied Ethics, 30: 63-77, 2019. More info

  33. C. Torras. Ethics of social robotics: Individual and societal concerns and opportunities. Annual Review of Control, Robotics, and Autonomous Systems, 7(1), 2024, to appear. More info

  34. C. Torras. Science-fiction: A mirror for the future of humankind. Special issue on "Artificial Intelligence", edited by R. López de Mántaras, C. Sierra and P. Almeda. IDEES, 48: 1-11, 2020  More info

  35. C. Torras. Social networks and robot companions: Technology, ethics and science fiction. Mètode Science Studies Journal, 99: 47-53, 2018.   More info

  36. C. Torras and R. López de Mántaras. Special issue editorial: Interconnectats: Màquines i humans davant del segle 10101. Mètode Science Studies Journal, 99: 2-3, 2018.   More info

Conference Publications

  1. M. Alberich-Carramiñana, J. Amorós and F. Coltraro. Developable surfaces with prescribed boundary, 2019 Trobada GEOMVAP - Geometria de Varietats i Aplicacions , 2019, Cardona, in Extended Abstracts GEOMVAP 2019 - Geometry, Topology, Algebra, and Applications; Women in Geometry and Topology, Vol 15 of Trends in Mathematics - Research Perspectives CRM Barcelona, pp. 127-132, 2021, Springer-Birkhäuser, Cham. More info

  2. M. Alberich-Carramiñana, J. Amorós, F. Coltraro, C. Torras and M. Verdaguer. Morse cell decomposition and parametrization of surfaces from point clouds, 2022 Encuentros de Álgebra Computacional y Aplicaciones, 2022, Castellón, Spain, to appear More info

  3. A. Andriella, R. Huertas, S. Forgas, C. Torras and G. Alenyà. Discovering SOCIABLE: Using a conceptual model to evaluate the legibility and effectiveness of backchannel cues in an entertainment scenario, 29th IEEE International Symposium on Robot and Human Interactive Communication, 2020, Naples, Italy (Virtual), pp. 752-759. More info

  4. A. Andriella, C. Torras and G. Alenyà. Implications of robot backchannelling in cognitive therapy, 14th International Conference on Social Robotics, 2022, Florence, Italy, Vol 13817 of Lecture Notes in Computer Science, pp. 546–557.

  5. M. Arduengo, A. Arduengo, A. Colomé, J. Lobo and C. Torras. Human to robot whole-body motion transfer, 2020 IEEE-RAS International Conference on Humanoid Robots, 2021, Munich, Germany (Virtual), pp. 299-305. More info

  6. A. Boix, S. Foix and C. Torras. Garment manipulation dataset for robot learning by demonstration through a virtual reality framework, 24th Catalan Conference on Artificial Intelligence, 2022, Sitges, in Artificial Intelligence Research and Development, Vol 356 of Frontiers in Artificial Intelligence and Applications, pp. 199-208, IOS Press.

  7. J. Borràs, A. Boix, S. Foix and C. Torras. A virtual reality framework for fast dataset creation applied to cloth manipulation with automatic semantic labelling, 2023 IEEE International Conference on Robotics and Automation, 2023, London (UK), pp. 11605-11611.

  8. J. Borràs Sol, R. Heudorfer, S. Rader, P. Kaiser and T. Asfour. The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, Madrid, pp. 4590-4597. More info

  9. E. Caldarelli, A. Colomé, C. Ocampo-Martínez and C. Torras. Quadratic dynamic matrix control for fast cloth manipulation, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023, Detroit, MI, USA, pp. 8178-8185.

  10.  E. Caldarelli, A. Chatalic, A. Colomé, L. Rosasco and C. Torras. Heteroscedastic Gaussian processes and random features: scalable motion primitives with guarantees, 2023 Conference on Robot Learning, 2023, Atlanta, GA, USA, pp. 3010-3029, PMLR.

  11. G. Canal, M. Cashmore, S. Krivić, G. Alenyà, D. Magazzeni and C. Torras. Probabilistic planning for robotics with ROSPlan, 2019 Annual Conference Towards Autonomous Robotic Systems Conference, 2019, London, in Towards Autonomous Robotic Systems, Vol 11649 of Lecture Notes in Computer Science, pp. 236-250, 2019, Springer More info

  12. V.A. Carmona, J. Lobo, J. van Ruysevelt, C. Torras and J.M. Font. Development and pilot evaluation of the ArmTracker: A wearable system to monitor arm kinematics during daily life, 8th IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics , 2020, New York City, NY, USA, pp. 759-764, IEEE. More info

  13. A. Colomé and C. Torras. Ordinal inverse reinforcement learning applied to robot learning with small data, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022, Kyoto, pp. 2490-2496. More info

  14. F. Coltraro, J. Amorós, M. Alberich-Carramiñana and C. Torras. An inextensible model for the robotic manipulation of textiles, 2022 Congreso de ecuaciones diferenciales y aplicaciones XXVII, 2022, Zaragoza, Spain, pp. 87-87. More info

  15. F. Coltraro, J. Amorós, M. Alberich-Carramiñana and C. Torras. Reconstruction of sampled surfaces with boundary via Morse theory, 2023 Congreso Español de Informática Gráfica, 2023, Mallorca, pp. 21-24. More info

  16. J.A. Delgado-Guerrero, A. Colomé and C. Torras. Contextual policy search for micro-data robot motion learning through covariate Gaussian process latent variable models, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020, Las Vegas, NV, USA, pp. 5511-5517. More info

  17. J.A. Delgado-Guerrero, A. Colomé and C. Torras. Sample-efficient robot motion learning using Gaussian process latent variable models, 2020 IEEE International Conference on Robotics and Automation, 2020, Paris, France,  pp. 314-320 More info

  18. I. Garcia-Camacho, J. Borràs and G. Alenyà. Knowledge representation to enable high-level planning in cloth manipulation tasks, 2022 ICAPS Workshop on Knowledge Engineering for Planning and Scheduling, 2022, Singapore (Virtual), pp. 9.More info

  19. I. Geer, M. Maceira, J. Borràs, C. Torras and G. Alenyà. Interaction identification through tactile sensing during cloth manipulation using a 3-axis touch sensor, 2020 IROS Workshop on Robotic Manipulation of Deformable Objects, 2020, Online, pp. 1-6 More info

  20. N. Hansen, R. Jangir, Y.S. , G. Alenyà, P. Abbeel, A.A. , L.P. and X.W.. Self-supervised policy adaptation during deployment, 9th International Conference on Learning Representations, 2021, (Virtual). More info

  21. R. Jangir, G. Alenyà and C. Torras. Dynamic cloth manipulation with deep reinforcement learning, 2020 IEEE International Conference on Robotics and Automation, 2020, Paris, France, pp. 4630-4636. More info

  22. D. Parent, A. Colomé and C. Torras. Variable impedance control in Cartesian latent space while avoiding obstacles in null space, 2020 IEEE International Conference on Robotics and Automation, 2020, Paris, France, pp. 9888-9894  More info

  23. J. Pareto. Social assistive robotics: An ethical approach through the concept of freedom, 2022 Philosophy of Human-Technology Relations, 2022, Copenhagen, pp. 53. More info

  24. J. Pareto, B. Román and C. Torras. Ethics for social robotics: A critical analysis, 2022 The Road to a Successful HRI: AI, Trust and ethicS Workshop, in the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2022), 2022, Sapporo, Japan, pp. 1-3.  More info

  25. A. Rossi, A. Andriella, S. Rossi, C. Torras and G. Alenyà. Evaluating the effect of Theory of Mind on people's trust in a faulty robot, 31st IEEE International Symposium on Robot and Human Interactive Communication, 2022, Napoli, Italy, pp. 477-482. More info

  26. F. Strazzeri and C. Torras. Configuration space of a textile rectangle, 2019 Trobada GEOMVAP - Geometria de Varietats i Aplicacions , 2019, Cardona, in Extended Abstracts GEOMVAP 2019 - Geometry, Topology, Algebra, and Applications; Women in Geometry and Topology, Vol 15 of Trends in Mathematics - Research Perspectives CRM Barcelona, pp. 133-137, 2021, Springer-Birkhäuser, Cham. More info

  27. F. Stulp, A. Colomé and C. Torras. Fitting Parameters of Linear Dynamical Systems to Regularize Forcing Terms in Dynamical Movement Primitives, 2024 IEEE International Conference on Robotics and Automation, 2024, Yokohama (Japan), To appear

  28. A. Suárez, A. Andriella, G. Alenyà and C. Torras. Proactive learning of cognitive exercises with a social robot, 2022 ICRA Workshop on Prediction and Anticipation Reasoning in Human Robot Interaction (PAR-HRI), 2022, Philadelphia, USA, pp. 1-4. More info

  29. A. Suárez, A. Andriella, A. Taranović, J. Segovia, C. Torras and G. Alenyà. Automatic learning of cognitive exercises for socially assistive robotics, 30th IEEE International Symposium on Robot and Human Interactive Communication, 2021, Vancouver, Canada, pp. 139-146. More info

  30. A. Suárez, A. Andriella, C. Torras and G. Alenyà. User interactions and negative examples to improve the learning of semantic rules in a cognitive exercise scenario, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023, Detroit, MI, USA, pp. 7953-7960. More info

  31. C. Torras. Anticipatory science fiction to foster ethical debates on AI and robotics, 2019 International Symposium on Anticipation and Anticipatory Systems: Humans Meet AI, 2019, Örebro, Sweden, pp. 1-3. More info

  32. G. Tzelepis, A. Eren Erdal, J. Borràs and G. Alenyà. Semantic state estimation in robot cloth manipulations using domain adaptation from human demonstrations, 19 International Conference on Computer Vision Theory and Applications, 2024, Rome, pp. 172-182. More info

  33. G. Tzelepis, J. Borràs, A. Eren Erdal and G. Alenyà. Semantic state prediction in robotic cloth manipulation, 2023 Intelligent Systems Conference, 2023, Amsterdam, pp. 205-219, Springer Lecture Notes in Networks and Systems. More info

  34. C. Xu, A. Colomé, L. Sentis and C. Torras. Mixtures of controlled Gaussian processes for dynamical modeling of deformable objects, 2022 Learning for Dynamics & Control Conference, 2022, Stanford, CA, USA, pp. 415-426. More info 

Theses

  1. F. Amadio, Using symmetries in reinforcement learning of bimanual robotic tasks, (Master Thesis, Universitat Politècnica de Catalunya, 2018-06). Directors: A. Colomé, M. Serra. More info

  2. A. Andriella, Personalising robot assistance for cognitive training therapy (PhD Thesis, Universitat Politècnica de Catalunya, 2022-10). Directors: G. Alenyà, C. Torras  More info

  3. R. Arañó, Validación del modelo de tela del proyecto Clothilde mediante la simulación y el cálculo numérico, (Bachelor Thesis, Universitat Politècnica de Catalunya, 2020-07). Directors: J. Amorós, F. Coltraro. More info

  4. M. Arduengo, Robot Learning from Demonstration with Gaussian Processes, (Master Thesis, Universitat Politècnica de Catalunya, 2021-06). Directors: A. Colomé, C. Ocampo, C. Torras. More info

  5. A. Boix, Development of a learning from demonstration environment using ZED 2i and HTC Vive Pro, (Bachelor Thesis, Universitat Politècnica de Catalunya, 2022-07). Directors: S. Foix, A. Dòria. More info

  6. G. Canal, Adapting robot behavior to user preferences in assistive scenarios, (PhD Thesis, Universitat Politècnica de Catalunya, 2020-02). Directors: G. Alenyà, C. Torras. More info

  7. F. Coltraro, Robotic manipulation of cloth: mechanical modeling and perception, (PhD Thesis, Universitat Politècnica de Catalunya, 2023-03). Directors: M. Alberich, J. Amorós. More info

  8. S. Donaire, Mà robòtica multifuncional per a tasques domèstiques, (Bachelor Thesis, Universitat Politècnica de Catalunya, 2019-07). Directors: J. Borràs. More info

  9. J. A. Echevarria. Manipulación robòtica de tela: percepció i ajust de model. (Bachelor Thesis, Universitat Politècnica de Catalunya, 2020-07). Directors: F. Coltraro, J. Amorós.

  10. I. García. Robotic manipulation skills for picking and unfolding garments, (Master Thesis, Universitat Politècnica de Catalunya, 2019-10). Directors: J. Borràs, G. Alenyà. More info

  11. J.M. Julià Morell. Primeros pasos en el control de la tela por simulación isométrica, (Master Thesis, Universitat Politècnica de Catalunya, 2022-05). Directors: F. Coltraro, J. Amorós. More info

  12. A. Luque, Robotic Cloth Manipulation: Real Implementation using Model Predictive Control and Reinforcement Learning, (Master Thesis, Universitat Politècnica de Catalunya, 2021-10). Directors: A. Colomé, C. Ocampo. More info

  13. J. Pareto, Ètica de les tecnologies: Coordenades teòrico-pràctiques per a la robòtica social, (PhD Thesis, Universitat Politècnica de Catalunya, 2024-01). Directors: C. Torras, B. Roman. More info

  14. M. Planas,Object manipulation with high-resolution and highly deformable tactile sensors, (Bachelor Thesis, Universitat Politècnica de Catalunya, 2022-05). Directors: C. Torras, N. Fazelli More info    

  15. P. Solsona, Identificació d'orientació de roba per a la detecció de peces de dins cap a fora per manipulació amb robots, (Bachelor Thesis, Universitat Politècnica de Catalunya, 2022-07). Directors: A. Husar, P. Jiménez. More info    

  16. M. Verdaguer López, Reconstrucció de superfícies amb vora a partir de núvol de punts, (Bachelor Thesis, Universitat Politècnica de Catalunya, 2021-07). Director: J. Amorós. More info

  17. C. Xu, Gaussian Process applied to modeling the dynamics of a deformable material, (Bachelor Thesis, Universitat Politècnica de Catalunya, 2021-10). Directors: A. Colomé, C. Torras, L. Sentís. More info  

Other Publications

  1. G. Canal, G. Alenyà and C. Torras. User preferences for enhanced robot adaptation in assistive dressing. Ergonomics in Robotics, edited by G. Barresi, Springer Tracts in Advanced Robotics, 2024, to appear.

  2. A. Colomé and C. Torras. Reinforcement Learning of Bimanual Robot Skills. Volume 134 of Springer Tracts in Advanced Robotics. Springer, 2020. More info

  3. F. Coltraro. Experimental validation of an inextensible cloth model. Technical Report IRI-TR-20-04, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2020 More info

  4. R. Jangir, G. Alenyà and C. Torras. Learning cloth manipulation with demonstrations. Technical Report IRI-TR-19-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2019. More info

  5. P. Jiménez. Inside-out states of garments. Technical Report IRI-TR-24-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2024. More info

  6. C. Torras. Aprenentatge Automàtic en Xarxes i Robots: Reptes Tecnocientífics i Implicacions Ètiques. Institut d'Estudis Catalans. Secció de Ciències i Tecnologia, 2018.  More info

  7. C. Torras. Desplegament ètic de la robòtica assistencial per a un envelliment saludable i sostenible. In La medicina al segle xxi, avenços i límits, 35-44. Universitat d'Estiu i Tardor d'Andorra, Govern d'Andorra, 2023. More info

  8. C. Torras. La ciencia ficción como estímulo del debate ético en robótica. In Robótica, ética y política. El impacto de la superinteligencia en el mundo de las personas, 139-167. Icaria Editorial, 2022. More info

  9. C. Torras. Presente y futuro de los robots asistenciales: Desafíos tecnocientíficos y éticos. Real Academia de Ingeniería, 2024. More info

  10. C. Torras. Robótica asistencial. Retos éticos en la ayuda y acompañamiento a cuidadores y pacientes. In Soledad no deseada en la era digital, 38-46. Fundació Víctor Grífols i Lucas, 2023. More info

  11. C. Torras. Robòtica assistencial: una aposta per l'envelliment saludable i sostenible. In Bioética: una mirada cap al futur, 216-225. Fundació Víctor Grífols i Lucas, 2023. More info

  12. C. Torras. Robotics and artificial intelligence meet the humanities: Some initiatives for ethics education and dissemination. In Humanities and Higher Education: Synergies between Science, Technology and Humanities, 267-273. Global University Network for Innovation, 2019. More info

  13. C. Torras. The Vestigial Heart. A Novel of the Robot Age. The MIT Press, 2018.  More info

  14. C. Torras and L.G. Ludescher. Writing science fiction as an inspiration for AI research and ethics dissemination. In Human-Centered Artificial Intelligence: Advanced Lectures, 322-344. Cham: Springer International Publishing, 2023. More info