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This thesis presents possible computational mechanisms by which a humanoid robot can develop a coherent representation of the space within its reach (its peripersonal space), and use it to control its movements. Those mechanisms are inspired by current the ...
We consider the problem of learning robust models of robot motion through demonstration. An approach based on Hidden Markov Model (HMM) and Gaussian Mixture Regression (GMR) is proposed to extract redundancies across multiple demonstrations, and build a ti ...
A climbing robot using magnetic caterpillars is developed and constructed. It allows to move on ferromagnetic materials in any orientation, and to make inner plan transition. The achieved friction force is very high. ...
One of the challenges with autonomous vehicles is their performance at intersections. An alternative control method for the coordination of autonomous vehicles at intersections is shown. The proposed approach was grounded in multiple-robot coordination and ...
Bringing robots as collaborative partners into homes presents various challenges to human-robot interaction. Robots will need to interact with untrained users in environments that are originally designed for humans. Compared to their industrial homologous ...
Powered wheelchairs play a vital role in bringing independence to people who suffer from a wide range of mobility impairments. However, some wheelchair users struggle to drive safely and effectively. To address these issues, a few fully autonomous robotic s ...
This article reports on the results of a user study investigating the satisfaction of naïve users conducting two learning by demonstration tasks with the HOAP-3 robot. The main goal of this study was to gain insights on how to ensure a successful as well a ...
Because of the increasing developments of humanoid robots, humans and robots are going to interact more and more often in the near future. Thus, the need for a well-defined ethical framework in which these interactions will take place is very acute. In thi ...
Robot Programming by Demonstration (RbD), also referred to as Learning by Imitation, explores user-friendly means of teaching a robot new skills. Recent advances in RbD have identified a number of key-issues for ensuring a generic approach to the transfer ...
We present a Programming by Demonstration (PbD) framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to different contexts. We validate the architecture through a s ...