Publications

Journal Publications

  • 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

  • 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

  • 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, 2022. More info

  • 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

  • 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

  • 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

  • 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, 2022, to appear. More info

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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, to appear. More info

  • 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

  • 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

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

  • J. Pareto, B. Román and C. Torras. The ethical issues of social assistive robotics: A critical literature review. Technology in Society, 67: 101726, 2021. More info

  • 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

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

  • 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

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

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

  • C. Torras and L. Delicado. Blanco y frío como el Polo Norte y el Polo Sur: Seres humanos y robots. Sociology and Technoscience, 12(1): 257-275, 2022. More info

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

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

  • 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.

  • 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

  • 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

  • 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

  • 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    

  • 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

  • C. Zheng, 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

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

  • 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

  • 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

  • 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

  • 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

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