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Member billard

Prof. Aude Billard

Professor

Email:
aude.billard@epfl.ch

Room:
ME A3 393

Phones:

  • Office: +41-21-693-5464
  • Home: +41-21-693-0939
  • Fax: +41-21-693-7850


Fields of Interest



Projects



Publications



    Journals

  • Erden, M.S. and Billard, A. (2014) End-Point Impedance Measurements Across Dominant and Nondominant Hands and Robotic Assistance with Directional Damping. IEEE Transactions on Cybernetics. In press. [pdf]
  • Magrelli, S., Noris, B., Jermann, P., Ansermet, F., Hentsch, F., Nadel, J and Billard, A. (2014) A Wearable Camera Detects Gaze Peculiarities during Social Interactions in Young Children with Pervasive Developmental Disorders. IEEE Transactions on Autonomous Mental Development (TAMD), Volume PP(99). doi: 10.1109/TAMD.2014.2327812. [home page] [pdf] [BibTeX]
  • Kim, S., Shukla, A. and Billard, A. (2014) Catching Objects in Flight. IEEE Transactions on Robotics, Volume 30, Issue 5. [show abstract] [pdf]
  • Khansari Zadeh, S. M. and Billard, A. (2014) Learning Control Lyapunov Function to Ensure Stability of Dynamical System-based Robot Reaching Motions. Robotics and Autonomous Systems. [home page] [show abstract] [pdf] [BibTeX]
  • Lukic, L, Santos-Victor, J. and Billard, A. (2014) Learning robotic eye–arm–hand coordination from human demonstration: a coupled dynamical systems approach. Biological Cybernetics. [show abstract] [pdf] [BibTeX]
  • Magrelli, S., Jermann, P., Noris, B., Ansermet, F., Hentsch, F., Nadel, J. and Billard, A. (2013) Social orienting of children with autism to facial expressions and speech: a study with a wearable eye-tracker in naturalistic settings. Frontiers in Psychology, Volume 4(840). doi: 10.3389/fpsyg.2013.00840. [home page] [pdf] [BibTeX]
  • Billard, A. and Grollman, D.H (2013) Learning by Demonstration. Scholarpedia, 8(12):3824; doi:10.4249/scholarpedia.3824. [home page]
  • Kronander, K. and Billard, A. (2013) Learning Compliant Manipulation through Kinesthetic and Tactile Human-Robot Interaction. IEEE Transactions on Haptics. 10.1109/TOH.2013.54. [show abstract] [pdf] [BibTeX]
  • Davilla-Ross, M., Hutchinson, J., Russel, J., Schaeffer, J., Billard, A., Hopkins, W. and Bard, K. (2013) Triggering social interactions: chimpanzees respond to imitation by a humanoid robot and request responses from it. Animal Cognition. 10.1007/s10071-013-0689-9. [show abstract]
  • El-Khoury, S., Miao, Li and Billard, A. (2013) On the Generation of a Variety of Grasps. Robotics and Autonomous Systems. Volume 61, Issue 12, Pages 1335–1349. [show abstract] [pdf]
  • Pais, A. L., Argall, Brenna Dee and Billard, A. (2013) Assessing Interaction Dynamics in the Context of Robot Programming by Demonstration. International Journal of Social Robotics, November 2013, Volume 5, Issue 4, pp 477-490. The final publication is available at link.springer.com. [show abstract] [pdf] [BibTeX]
  • Schmitow, C, Stenberg, G and Billard, A. (2013) Measuring Gaze Direction with a Head-Mounted Camera. International Journal of Behavioral Development, Volume 37 No 5, September 2013. [show abstract] [pdf]
  • Noris, B., Nadel, J, Barker, M., Hadjikhani, N. and Billard, A. (2012) Investigating gaze of children with ASD in naturalistic settings. PLOS ONE, 7(9): e44144. doi:10.1371/journal.pone.0044144. http://www.plosone.org/article/info:doi/10.1371/journal.pone.0044144. [show abstract] [pdf] [BibTeX]
  • Khansari Zadeh, S. M., Kronander, K. and Billard, A. (2012) Learning to Play Minigolf: A Dynamical System-based Approach. Advanced Robotics, vol. 26, num. 17, p. 1967-1993. [show abstract] [pdf] [BibTeX]
  • Grollman, D.H and Billard, A. (2012) Robot Learning from Failed Demonstrations. International Journal of Social Robotics, Volume 4, Issue 4, pp 331-342.. In Press. [show abstract] [pdf]
  • Kim, S. and Billard, A. (2012) Estimating the non-linear dynamics of free-flying objects. Robotics and Autonomous Systems, Volume 60, Issue 9, P. 1108–1122.. [show abstract] [pdf]
  • Khansari Zadeh, S. M. and Billard, A. (2012) A Dynamical System Approach to Realtime Obstacle Avoidance. Autonomous Robots, 32(4), 433-454. The final publication is available at www.springerlink.com. [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Shukla, A. and Billard, A. (2012) Coupled dynamical system based arm-hand grasping model for learning fast adaptation strategies. Robotics and Autonomous Systems, Vol. 60, Pages 424 - 440. [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Hersch, M., Billard, A. and Bergmann, S. (2012) Iterative Estimation of Rigid Body Transformations. Journal of Mathematical Imaging and Vision. Volume 43, Issue 1, pp 1-9. [show abstract] [pdf]
  • Sauser, E., Argall, Brenna Dee, Metta, Giorgio and Billard, A. (2011) Iterative Learning of Grasp Adaptation through Human Corrections. Robotics and Autonomous Systems. Volume 60, Issue 1, January 2012, Pages 55–71. [show abstract] [pdf]
  • Khansari Zadeh, S. M. and Billard, A. (2011) Learning Stable Non-Linear Dynamical Systems with Gaussian Mixture Models. IEEE Transaction on Robotics, vol. 27, num 5, p. 943-957. [home page] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Argall, Brenna Dee, Sauser, E. and Billard, A. (2011) Tactile Guidance for Policy Adaptation. Foundations and Trends in Robotics. 1(2), 79-133. [show abstract] [pdf]
  • Pawel Lichocki, Peter Kahn and Billard, A. (2011) A Survey of the Current Ethical Landscape in Robotics. IEEE Robotics and Automation Magazine, vol. 18:1, p. 39 - 50. [show abstract] [pdf]
  • Noris, B., Keller, J-B. and Billard, A. (2011) A Wearable Gaze Tracking System for Children in Unconstrained Environments. Computer Vision and Image Understanding. [show abstract] [pdf]
  • Murphy, R, Nomura, T, Billard, A. and Burke, J. (2010) Human-Robot Interaction: An exclusive course for Computer Scientists and Engineers. IEEE Robotics and Automation Magazin, p.83-89. [pdf]
  • Petreska, B., Billard, A. and Hermsdörfer, J. (2010) Revisiting a study of callosal apraxia: The right hemisphere can imitate the orientation but not the position of the hand. Neuropsychologia, vol. 48, num. 9, 2010, p. 2509-2516. [show abstract] [pdf] [BibTeX]
  • Argall, Brenna Dee and Billard, A. (2010) A Survey of Tactile Human-Robot Interactions. Robotics and Autonomous Systems, vol. 58, num. 10, 2010, p. 1159-1176. [home page] [show abstract] [pdf] [BibTeX]
  • Calinon, S., Dhalluin, F., Sauser, E., Caldwell, D. and Billard, A. (2010) Learning and reproduction of gestures by imitation: An approach based on Hidden Markov Model and Gaussian Mixture Regression. IEEE Robotics and Automation Magazine, vol. 17, num. 2, 2010, p. 44--54. [show abstract] [pdf] [BibTeX]
  • Gribovskaya, E., Khansari Zadeh, S. M. and Billard, A. (2010) Learning Nonlinear Multivariate Dynamics of Motion in Robotic Manipulators. International Journal of Robotics Research, vol. 30, 1, p. 80-117. [show abstract] [pdf] [BibTeX]
  • Petreska, B. and Billard, A. (2009) Movement Curvature Planning through Force Field Internal Models. Biological Cybernetics, vol. 100, num. 5, 2009, p. 331-350. [show abstract] [pdf] [BibTeX]
  • Calinon, S. and Billard, A. (2009) Statistical Learning by Imitation of Competing Constraints in Joint Space and Task Space. Advanced Robotics, vol. 23, num. 15, 2009, p. 2059-2076. [show abstract] [pdf] [BibTeX]
  • Hersch, M., Guenter, F., Calinon, S., Billard, A. and (2008) Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations. IEEE Transactions on Robotics, vol. 24, num. 6, 2008, p. 1463-1467. [pdf]
  • Hersch, M., Sauser, E. and Billard, A. (2008) Online learning of the body schema. International Journal of Humanoid Robotics, vol. 5, num. 2, 2008, p. 161-181. [show abstract] [pdf]
    Source code from this publication available here
  • Hersch, M. and Billard, A. (2008) Reaching with Multi-Referential Dynamical Systems. Autonomous Robots, vol. 25, num. 1-2, 2008, p. 71-83. In press. [pdf] [BibTeX]
    Source code from this publication available here
  • Billard, A., Calinon, S., Dillmann, R. and Schaal, S. (2007) Robot Programming by Demonstration. Handbook of Robotics, MIT Press. (in Press), chapter 59. [show abstract] [pdf]
  • Guenter, F., Hersch, M., Calinon, S. and Billard, A. (2007) Reinforcement Learning for Imitating Constrained Reaching Movements. RSJ Advanced Robotics, Vol. 21, No. 13, pp. 1521-1544. [show abstract] [pdf] [BibTeX]
  • 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, pp 441-464. [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Petreska, B., Adriani, M., Blanke, O. and Billard, A. (2007) Apraxia: a review. In C. von Hofsten (Ed.). From Action to Cognition. Progress in Brain Research. Elsevier. Amsterdam. Vol. 164, pp. 61-83. [pdf] [BibTeX]
  • Brooks, A., van der Zwan, R., Billard, A., Petreska, B., Clarke, S. and Blanke, O. (2007) Auditory motion affects visual biological motion processing. Neuropsychologia, Vol. 45(3) , pp. 523-530. [pdf]
  • 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, 37:2. Part B. Special issue on robot learning by observation, demonstration and imitation. [Matlab source code] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Sauser, E. and Billard, A. (2006) Dynamic Updating of Distributed Neural Representations using Forward Models. Biological Cybernetics, 95(6), 567-588. The original publication is available at springerlink.com. [show abstract] [pdf]
  • Billard, A., Robins, B, Dautenhahn, K. and Nadel, J (2006) Building Robota, a Mini-Humanoid Robot for the Rehabilitation of Children with Autism. the RESNA Assistive Technology Journal. Vol. 19, Issue 1. [home page] [pdf]
  • Sauser, E. and Billard, A. (2006) Parallel and Distributed Neural Models of the Ideomotor Principle: An Investigation of Imitative Cortical Pathways. Neural Networks, 19(3): 285-298. [pdf]
  • 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. [home page] [show abstract] [pdf] [BibTeX]
  • Robins, B, Dautenhahn, K., te Boekhorst, R. and Billard, A. (2005) Robotic assistants in therapy and education of children with autism: Can a small humanoid robot help encourage social interaction skills?. Access in the Information Society (UAIS), Springer- Verlag.. [pdf]
  • Sauser, E. and Billard, A. (2005) Three Dimensional Frames of References Transformations using Recurrent Populations of Neurons. Neurocomputing, 64, 5-24. [show abstract] [pdf]
  • Billard, A., Epars, Y., Calinon, S., Cheng, G. and Schaal, S. (2004) Discovering Optimal Imitation Strategies. Robotics & Autonomous Systems, Special Issue: Robot Learning from Demonstration, 47:2-3, p.69-77. [home page] [show abstract] [pdf] [BibTeX]
  • Schaal, S., Ijspeert, A.J. and Billard, A. (2003) Computational Approaches to Motor Learning by Imitation. Philosophical Transactions: Biological Sciences (The Royal Society), 358:1431, p.537-547. [pdf]
  • Billard, A. (2003) Robota: Clever Toy and Educational Tool. Robotics & Autonomous Systems, 42, 259-269. [home page] [show abstract] [pdf]
  • Billard, A., Schaal, S. and Gordon, J. (2002) Imitation of coordinated arm movements. Experimental Brain Research. Submitted July 2002.
  • Ijspeert, A.J., Martinoli, A., Billard, A. and Gambardella, L.M. (2001) Collaboration through the exploitation of local interactions in autonomous collective robotics: the stick pulling experiment. Autonomous Robots, 11:2, 149-171. [pdf]
  • Billard, A. and Mataric, M. (2001) Learning human arm movements by imitation: Evaluation of a biologically-inspired connectionist architecture. Robotics & Autonomous Systems 941, 1-16. [pdf]
  • Christel, M. and Billard, A. (2001) How monkeys Morphology constrain natural prehension kinematics. Unconstrained conditions and simulation. Behavioral Brain Research, 131 (1-2), 169-184. [pdf]
  • Billard, A., Ijspeert, A.J. and Martinoli, A. (2000) A multi-robot system for adaptive exploration of a fast changing environment: probabilistic modelling and experimental study. Connection Science, Vol. 11, No. 3/4, 357-377. [pdf]
  • Billard, A. and Dautenhahn, K. (2000) Experiments in social robotics: grounding and use of communication in autonomous agents. Adaptive Behavior, vol. 7: 3/4. [pdf]
  • Billard, A. (2000) Learning motor skills by imitation: a biologically inspired robotic model. Cybernetics & Systems, 32, 1-2, 155-193. [pdf]
  • Arbib, M., Billard, A., Iacobonni, M. and Oztop, E. (2000) Synthetic brain imaging: grasping, mirror neurons and imitation. Neural Networks, 13 (8/9), 975?997. [pdf]
  • Billard, A. and Hayes, G. (1999) DRAMA, a connectionist architecture for control and learning in autonomous robots. Adaptive Behavior Journal, Vol. 7:1, 35-64, January. [pdf]
  • Billard, A. (1999) DRAMA, a connectionist architecture for on-line learning and control of autonomous robots: Experiments on learning of a synthetic proto-language with a doll robot. Industrial Robot Journal, 26:1, 59-66, January. [pdf]
  • Billard, A. and Dautenhahn, K. (1998) Grounding communication in autonomous robots: an experimental study. In M. Recce and U. Nehmzow (eds.), Robotics and Autonomous Systems, special Issue on "Scientific methods in mobile robotics", Vol. 24, Issues 1-2, 71-79.


  • Book Chapters

  • Shukla, A. and Billard, A. (2013) Augmented-SVM for gradient observations with application to learning multiple-attractor dynamics. Support Vector Machines Applications, Springer. In Press. [home page] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Grollman, D.H and Billard, A. (2011) Learning Algorithms. Encyclopedia of the Sciences of Learning. [Encyclopedia of the Sciences of Learning] [BibTeX]
  • Billard, A. and Grollman, D.H (2011) Imitation Learning (of Robots). Encyclopedia of the Sciences of Learning. [Encyclopedia of the Sciences of Learning] [BibTeX]
  • Billard, A. and Grollman, D.H (2011) Human-Robot Interaction. Encyclopedia of the Sciences of Learning. [Encyclopedia of the Sciences of Learning] [BibTeX]
  • Billard, A., Calinon, S., Dillmann, R. and Schaal, S. (2008) Survey: Robot Programming by Demonstration. Handbook of Robotics, . chapter 59, 2008. [show abstract] [pdf] [BibTeX]
  • 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. Cambridge University Press. [show abstract] [pdf] [BibTeX]
  • Goga, I. and Billard, A. (2006) Development of goal-directed imitation, object manipulation and language in humans and robots. In M. A. Arbib (ed.), Action to Language via the Mirror Neuron System. Cambridge University Press.. [pdf]
  • Robins, B, Dautenhahn, K., te Boekhorst, R. and Billard, A. (2004) Effects of repeated exposure of a humanoid robot on children with autism. In S. Keates, J. Clarkson, P. Langdon and P. Robinson (eds), Designing a More Inclusive World. London: Springer-Verlag, 225-236. [home page] [show abstract] [pdf]
  • Billard, A. (2002) Imitation: a means to enhance learning of a synthetic proto-language in an autonomous robot. In K. Dautenhahn and C. L. Nehaniv (eds), Imitation in Animals and Artifacts, MIT Press, 281-311. [pdf] [ps.gz]
  • Billard, A. and Arbib, M. (2002) Mirror neurons, and the neural basis for learning by imitation: Computational modeling. In Maxim Stamenov and Vittorio Gallese (eds), John Benjamins publisher, 42, viii, 343-353.
  • Billard, A. (2002) Play, Dreams and Imitation in Robota. In K. Dautenhahn, B. Edmonds and L. Canamero (eds), Socially Intelligent Agents, Kluwer publisher, 165-173.
  • Billard, A. (2002) Imitation. In M. A. Arbib (ed.), Handbook of Brain Theory and Neural Networks, MIT Press, 566-569. [pdf]
  • Billard, A. and Hayes, G. (1998) Transmitting Communication Skills through Imitation in Autonomous robots. In A. Birk and J. Demiris (eds.), Learning Robots: A Multi-Perspective Exploration, LNAI Series, Springer-Verlag, 79-95.


  • Conference Proceedings

  • Yin, H., Paiva, A. and Billard, A. (2014) Learning Cost Function and Trajectory for Robotic Writing Motion. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014. In press. [HUMANOIDS 2014] [show abstract] [pdf] [BibTeX]
  • Gerratt, Aaron P., Sommer, N, Lacour, Stephanie and Billard, A. (2014) Stretchable capacitive tactile skin on humanoid robot fingers - first experiments and results. In Proceedings of the IEEE International Conference on Humanoid Robots. [HUMANOIDS 2014] [show abstract] [pdf]
  • Erden, M.S. and Billard, A. (2014) End-point Impedance Measurements at Human Hand during Interactive Manual Welding with Robot. In Proceedings of 2014 IEEE International Conference on Robotics & Automation (ICRA). [ICRA2014] [pdf]
  • Miao, Li, Yasemin Bekiroglu, Danica Kragic and Billard, A. (2014) Learning of Grasp Adaptation through Experience and Tactile Sensing. International Conference on Intelligent Robots and Systems. [IROS'2014] [pdf]
  • Tanwani, A. K., Millan, J. d. R and Billard, A. (2014) Rewards-Driven Control of Robot Arm by Decoding EEG Signals. 36th IEEE Engineering in Medicine and Biology Society Conference (EMBC). [EMBC 2014] [show abstract] [pdf] [BibTeX]
  • Khoramshahi, M., Shukla, A. and Billard, A. (2014) Cognitive mechanism in synchronized motion: An internal predictive model for manual tracking control. The 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC2014). [SMC 2014] [show abstract] [pdf]
  • Khansari Zadeh, S. M., Kronander, K. and Billard, A. (2014) Modeling robot discrete movements with state-varying stiffness and damping: A framework for integrated motion generation and impedance control. To be appeared in proceedings of Robotics: Science and Systems X (RSS 2014), Berkeley, California. [show abstract] [pdf] [BibTeX]
  • de Souza, R. L., El-Khoury, S., Santos-Victor, J. and Billard, A. (2014) Towards comprehensive capture of human grasping and manipulation skills. In proceedings of the Thirteenth International Symposium on the 3-D Analysis of Human Movement. [3D-AHM] [show abstract] [pdf]
  • Sommer, N, Miao, Li and Billard, A. (2014) Bimanual Compliant Tactile Exploration for Grasping Unknown Objects. IEEE International Conference on Robotics and Automation (ICRA), HongKong, China, May 31-June 7. Accepted. [ICRA2014] [pdf] [BibTeX]
  • Miao, Li, Yin, H., Kenji, Tahara and Billard, A. (2014) Learning Object-level Impedance Control for Robust Grasping and Dexterous Manipulation. IEEE International Conference on Robotics and Automation (ICRA), HongKong, China, May 31-June 7.. accepted. [ICRA2014] [pdf] [BibTeX]
  • Pais, A. L. and Billard, A. (2014) Encoding bi-manual coordination patterns from human demonstrations. In Proceedings of the 9th ACM/IEEE International Conference on Human-Robot Interaction. [HRI 2014] [show abstract] [BibTeX]
  • de Chambrier, Guillaume and Billard, A. (2013) Learning search behaviour from humans. IEEE-Robotics and Biomimetics. [ROBIO] [show abstract] [pdf]
  • Rai, Akshara, de Chambrier, Guillaume and Billard, A. (2013) Learning from Failed Demonstrations in Unreliable Systems. IEEE-RAS International Conference on Humanoid Robots. [HUMANOIDS 2013] [show abstract] [pdf] [BibTeX]
  • Lukic, L, Billard, A. and Santos-Victor, J. (2013) Modulating Vision with Motor Plans: A Biologically-inspired Efficient Allocation of Visual Resources. In Proceedings of the IEEE International Conference on Humanoid Robots, Humanoids 2013. [pdf] [BibTeX]
  • Tanwani, A. K. and Billard, A. (2013) Transfer in Inverse Reinforcement Learning for Multiple Strategies. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013. Accepted. [IROS 2013] [show abstract] [pdf] [BibTeX]
  • Milos Vasic and Billard, A. (2013) Safety Issues in Human-Robot Interactions. In Proceedings of the IEEE-RAS International Conference on Robotics and Automation. [ICRA 2013] [show abstract] [pdf]
  • Bidan Huang, El-Khoury, S., Miao, Li, Joanna J. Bryson and Billard, A. (2013) Learning a Real Time Grasping Strategy. IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013. Accepted. [ICRA 2013] [pdf]
  • de Souza, R. L., Bernardino, A., Santos-Victor, J. and Billard, A. (2012) On the Representation of Anthropomorphic Robot Hands: Shape versus Function. In Proceedings of IEEE-RAS International Conference on Humanoid Robots. [HUMANOIDS'2012] [show abstract] [pdf]
  • Figueiredo, R., Shukla, A., Aragao, D., Moreno, P., Bernardino, A., Santos-Victor, J. and Billard, A. (2012) Reaching and grasping kitchenware objects. In Proceedings of International Symposium on System Integration (SII). In press. [SII 2012] [home page] [show abstract] [pdf] [BibTeX]
  • Sommer, N and Billard, A. (2012) Face Classification Using Touch with a Humanoid Robot Hand. in Proceedings of the 2012 IEEE-RAS International Conference on Humanoid Robots. [HUMANOIDS'2012] [pdf]
  • Lukic, L, Santos-Victor, J. and Billard, A. (2012) Learning Coupled Dynamical Systems from Human Demonstration for Robotic Eye-Arm-Hand Coordination. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), Osaka, Japan. [HUMANOIDS'2012] [show abstract] [pdf] [BibTeX]
  • Shukla, A. and Billard, A. (2012) Augmented-SVM: Automatic space partitioning for combining multiple non-linear dynamics. In Proceedings of Advances in Neural Information Processing Systems, Tahoe Nevada. Volume 25, Pages 1025-1033. [NIPS 2012] [home page] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • El-Khoury, S., Miao, Li and Billard, A. (2012) Bridging the Gap: One Shot Grasp Synthesis Approach. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. [IROS'2012] [show abstract] [pdf]
  • Kronander, K. and Billard, A. (2012) Online Learning of Varying Stiffness through Physical Human-Robot Interaction. In Proceedings of the Int. Conf. on Robotics and Automation, St-Paul/Minneapolis, May 2012. [ICRA2012] [show abstract] [pdf] [BibTeX]
  • Argall, Brenna Dee and Billard, A. (2011) Learning from Demonstration and Correction via Multiple Modalities for a Humanoid Robot. . In Proceedings of the International Conference SKILLS, Montpellier, France. [show abstract] [pdf]
  • Kheddar, A. and Billard, A. (2011) A Tactile Matrix for Whole-body Humanoids Haptic Sensing and Safe Interaction. in Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2011. (ROBIO 2011). [pdf]
  • Kronander, K., Khansari Zadeh, S. M. and Billard, A. (2011) Learning to Control Planar Hitting Motions in a Monigolf-like Task. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011. (IROS 2011). Received the JTSC Novel Technology Paper Award. [IROS2011] [show abstract] [pdf] [BibTeX]
  • Noris, B., Barker, M., Hentsch, F., Ansermet, F., Nadel, J and Billard, A. (2011) Measuring Gaze of Children with Autism Spectrum Disorders in Naturalistic Interactions. In Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society. [EMBC'2011] [show abstract] [pdf]
  • Shukla, A. and Billard, A. (2011) Coupled Dynamical System Based Hand-Arm Grasp Planning under Real-Time Perturbations. In Proceedings of Robotics: Science and Systems VII, Los Angeles CA. Volume 7, Pages 313--320. [RSS 2011] [home page] [show abstract] [pdf] [BibTeX]
  • Gribovskaya, E., Kheddar, A. and Billard, A. (2011) Motion Learning and Adaptive Impedance for Robot Control during Physical Interaction with Humans. In Proceedings of the International Conference on Robotics and Automation. [ICRA 2011] [show abstract] [pdf]
  • Grollman, D.H and Billard, A. (2011) Donut as I do: Learning from Failed Demonstrations. In Proceedings of IEEE International Conference on Robotics and Automation. Best Paper Award (Cognitive Robotics). [ICRA 2011] [show abstract] [pdf] [BibTeX]
  • Khansari Zadeh, S. M. and Billard, A. (2010) BM: An Iterative Method to Learn Stable Non-Linear Dynamical Systems with Gaussian Mixture Models. Proceeding of the International Conference on Robotics and Automation (ICRA 2010), 2010, p. 2381-2388. [ICRA 2010] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Calinon, S., Sauser, E., Billard, A. and Caldwell, D. (2010) Evaluation of a probabilistic approach to learn and reproduce gestures by imitation. Proceedings of the IEEE Intl Conf. on Robotics and Automation (ICRA), 2010. [ICRA 2010] [show abstract] [BibTeX]
  • Argall, Brenna Dee, Sauser, E. and Billard, A. (2010) Policy Adaptation through Tactile Correction. Thirty Sixth Annual Convention of the Society for the Study of Artificial Intelligence and Simulation of Behaviour (AISB’10), 2010. [AISB'10] [show abstract] [pdf]
  • Argall, Brenna Dee, Sauser, E. and Billard, A. (2010) Tactile Guidance for Policy Refinement and Reuse. Proceedings of the 9th IEEE International Conference on Development and Learning (ICDL 2010), 2010. [ICDL 2010] [show abstract] [pdf] [BibTeX]
  • Petreska, B., Schneider, L., Buttet Sovilla, J., Billard, A. and Aeschlimann, M. (2010) The variability of contact position errors in apraxic imitation. Society for Neuroscience Meeting (SfN 2010), San Diego, California, USA, November 13-17, 2010. [SfN 2010] [show abstract] [BibTeX]
  • Khansari Zadeh, S. M. and Billard, A. (2010) Imitation learning of Globally Stable Non-Linear Point-to-Point Robot Motions using Nonlinear Programming. Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [IROS'2010] [show abstract] [pdf] [BibTeX]
  • Kim, S., Gribovskaya, E. and Billard, A. (2010) Learning Motion Dynamics to Catch a Moving Object. 10th IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, USA, December 6-8, 2010.. [HUMANOIDS'2010] [show abstract] [pdf] [BibTeX]
  • Dhalluin, F., de Rengervé, A., Lagarde, M., Gaussier, P., Billard, A. and Andry, P. (2010) A state-action neural network supervising navigation and manipulation behaviors for complex task reproduction. Tenth International Conference on Epigenetic Robotics, Örenäs Slott, Sweden, November, 5-7, 2010. [show abstract] [pdf]
  • de Rengervé, A., Dhalluin, F. and Billard, A. (2010) A study of two complementary encoding strategies based on learning by demonstration for autonomous navigation task. Tenth International Conference on Epigenetic Robotics , Örenäs Slott, Sweden, November, 5-7, 2010. [show abstract] [pdf]
  • Calinon, S., Evrard, P., Gribovskaya, E., Billard, A. and Kheddar, A. (2009) Learning collaborative manipulation tasks by demonstration using a haptic interface. Proceedings of the International Conference on Advanced Robotics (ICAR), 2009. [ICAR 2009] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • 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. Proc. of the IEEE Intl Symposium on Robot and Human Interactive Communication (Ro-Man), 2009, p. 147-152. [Ro-Man 2009] [show abstract] [pdf] [BibTeX]
  • Li, W., Billard, A. and Bourland, H. (2009) Keyword Detection for Spontaneous Speech. The 2nd International Conference on Image and Signal Processing (CISP 2009), 2009. [CISP 2009] [show abstract] [pdf] [BibTeX]
  • Gribovskaya, E. and Billard, A. (2009) Learning Nonlinear Multi-Variate Motion Dynamics for Real- Time Position and Orientation Control of Robotic Manipulators. Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots, 2009. [HUMANOIDS'2009] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Calinon, S., Dhalluin, F., Caldwell, D. and Billard, A. (2009) Handling of multiple constraints and motion alternatives in a robot programming by demonstration framework. Proceedings of 2009 IEEE International Conference on Humanoid Robots, 2009, p. 582 - 588. Nominated for Best Paper Award. [HUMANOIDS'2009] [show abstract] [pdf] [BibTeX]
  • Evrarard, P., Gribovskaya, E., Calinon, S., Billard, A. and Kheddar, A. (2009) Teaching Physical Collaborative Tasks: Object-Lifting Case Study with a Humanoid. Proceedings of IEEE International Conference on Humanoid Robots, 2009. [HUMANOIDS'2009] [show abstract] [pdf] [BibTeX]
  • Sproewitz, A, Billard, A., Dillenbourg, P. and Ijspeert, A.J. (2009) Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture. Proceedings of 2009 IEEE International Conference on Robotics and Automation, 2009, p. 4259-4264. [ICRA 2009] [show abstract] [pdf] [BibTeX]
  • Pierre-Andre Mudry, Sarah Degallier, Billard, A. and (2008) On the influence of symbols and myths in the responsibility ascription problem in roboethics - A roboticist’s perspective. Proceedings of the Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN'08), 2008, p. 563--568. [ICRA 2010] [show abstract] [pdf]
  • Calinon, S. and Billard, A. (2008) A framework integrating statistical and social cues to teach a humanoid robot new skills. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Workshop on Social Interaction with Intelligent Indoor Robots, 2008. [ICRA 2008] [show abstract] [pdf] [BibTeX]
  • Calinon, S. and Billard, A. (2008) A Probabilistic Programming by Demonstration Framework Handling Constraints in Joint Space and Task Space. Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), 2008. [IROS'2008] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Asadpour, M., Sproewitz, A., Billard, A., Dillenbourg, P. and Ijspeert, A.J. (2008) Graph signature for self-reconfiguration planning. International Conference on Intelligent Robots and Systems, Nice, September 22-26, 2008.. [show abstract] [pdf] [BibTeX]
  • Noris, B., Benmachiche, K. and Billard, A. (2008) Calibration-Free Eye Gaze Direction Detection with Gaussian Processes. In Proceedings of the International Conference on Computer Vision Theory and Applications. In Press. [VISAPP 08] [home page] [show abstract] [pdf] [BibTeX]
  • Hersch, M., Reichert, T. and Billard, A. (2008) Iterative rigid body transformation estimation for visual 3-D object tracking. in Proceedings of the Third Interantional Conference on Computer Vision Theory and Applications (VISAPP 08)). [VISAPP 08] [show abstract] [pdf] [BibTeX]
  • Gribovskaya, E. and Billard, A. (2008) Combining Dynamical Systems Control and Programming by Demonstration for Teaching Discrete Bimanual Coordination Tasks to a Humanoid Robot. In Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI) 2008 (accepted). [pdf]
  • Gribovskaya, E. and Billard, A. (2007) A Model of Acquisition of Discrete Bimanual Coordination Skills for a Humanoid Robot. In Proceeding of the International Conference in Epigenetic Robotics. [pdf]
  • Piccardi, L., Noris, B., Barbey, O., Billard, A., Schiavone, G., Keller, F. and von Hofsten, C. (2007) WearCam: A head mounted wireless camera for monitoring gaze attention and for the diagnosis of developmental disorders in young children. In Proceedings of the 16th IEEE International Simposium on Robot & Human Interactive Communication. [RO-MAN'2007] [show abstract] [pdf] [BibTeX]
  • Guenter, F. and Billard, A. (2007) Using Reinforcement Learning to Adapt an Imitation Task.. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. [IROS'2007] [show abstract] [pdf] [BibTeX]
  • Noris, B., Benmachiche, K., Meynet, J., Thiran, J-P. and Billard, A. (2007) Analysis of Head Mounted Wireless Camera Videos for Early Diagnosis of Autism. In Proceedings of the International Conference on Recognition Systems. Awarded a Best Presentation distinction to Basilio Noris. [CORES 2007] [show abstract] [pdf] [BibTeX]
  • Sauser, E. and Billard, A. (2007) Interferences in the Transformation of Reference Frames during a Posture Imitation Task. In Proceeding of the International Conference on Artificial Neural Networks, ICANN 07, Porto, Portugal. Accepted. [ICANN'2007] [show abstract] [pdf] [BibTeX]
  • Calinon, S. and Billard, A. (2007) Active Teaching in Robot Programming by Demonstration. in Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Jeju, Korea, pp 702-707. [RO-MAN'2007] [show abstract] [pdf] [BibTeX]
  • Daidié, D., Barbey, O., Guignard, A., Roussy, D., Guenter, F., Ijspeert, A.J. and Billard, A. (2007) The Dof-Box Project: An Educational Kit for Configurable Robots. In Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics. [AIM 2007] [show abstract] [pdf] [BibTeX]
  • Calinon, S. and Billard, A. (2007) Incremental Learning of Gestures by Imitation in a Humanoid Robot. in Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI). [Matlab source code] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Hersch, M., Guenter, F., Calinon, S. and Billard, A. (2006) Learning Dynamical System Modulation for Constrained Reaching Tasks. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids). [HUMANOIDS'2006] [show abstract] [pdf] [BibTeX]
  • Goga, I. and Billard, A. (2006) An attention framework for learning by interaction in developmental embodied agents. Accepted at the Third Conference Towards Autonomous Robotic Systems, TAROS 2006, 4-6 Sept 2006, Guildford, UK. [TAROS 2006] [pdf]
  • Goga, I. and Billard, A. (2006) Attention mechanisms for the imitation of goal-directed action in developmental robots. Short paper accepted at the 6th International Conference in Epigenetic Robotics, 20-22 Sept 2006, Paris, France. [EPIROB 2006] [pdf]
  • Petreska, B. and Billard, A. (2006) A Neurocomputational Model of an Imitation Deficit following Brain Lesion. In Proceedings of 16th International Conference on Artificial Neural Networks (ICANN 2006). LNCS, Vol. 4131, pp. 770-779. [ICANN'2006] [show abstract] [pdf] [BibTeX]
  • Sauser, E. and Billard, A. (2006) Biologically Inspired Multimodal Integration: Interferences in a Human-Robot Interaction Game. In Proceedings of IROS'2006, Beijing, China. [IROS'2006] [show abstract] [pdf]
  • Calinon, S. and Billard, A. (2006) Teaching a Humanoid Robot to Recognize and Reproduce Social Cues. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). [Matlab source code] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Hersch, M. and Billard, A. (2006) A Model for Imitating Human Reaching Movements. Poster abstract in Proceedings of the Human Robot Interaction Conference 2006, Salt Lake City. [HRI 2006] [pdf]
  • Roos, L., Guenter, F., Guignard, A. and Billard, A. (2006) Design of a Biomimetic Spine for the Humanoid Robot Robota. In Proceedings of the IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. [BIOROB 2006] [home page] [show abstract] [pdf] [BibTeX]
  • Hersch, M. and Billard, A. (2006) A Biologically-Inspired Model of Reaching Movements. In Proceedings of the 2006 IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa. [BIOROB 2006] [pdf] [BibTeX]
  • Calinon, S., Guenter, F. and Billard, A. (2006) On Learning the Statistical Representation of a Task and Generalizing it to Various Contexts. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). [ICRA'2006] [show abstract] [pdf] [BibTeX]
  • Guenter, F., Roos, L., Guignard, A. and Billard, A. (2005) Design of a Biomimetic Upper Body for the Humanoid Robot. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots. [HUMANOIDS'2005] [home page] [show abstract] [pdf] [BibTeX]
  • Calinon, S., Epiney, J. and Billard, A. (2005) A Humanoid Robot Drawing Human Portraits. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots. [HUMANOIDS'2005] [show abstract] [pdf] [BibTeX]
  • Calinon, S. and Billard, A. (2005) Recognition and Reproduction of Gestures using a Probabilistic Framework combining PCA, ICA and HMM. In Proceedings of the International Conference on Machine Learning (ICML). [ICML'05] [show abstract] [pdf] [BibTeX]
    Source code from this publication available here
  • Maurer, A., Hersch, M. and Billard, A. (2005) Extended Hopfield Network for Sequence Learning: Application to Gesture Recognition. Proc. of ICANN'05. [ICANN'2005] [show abstract] [pdf] [BibTeX]
  • Sauser, E. and Billard, A. (2005) View Sensitive Cells as a Neural Basis for the Representation of Others in a Self-Centered Frame of Reference. In Proceedings of the Third International Symposium on Imitation in Animals and Artifacts, Hatfield, UK, 119-127. [AISB05] [show abstract] [pdf]
  • Billard, A. (2005) Challenges in designing the body and the mind of an interactive robot.. Proceeding of the AISB05 convention, Symposium on Robot Companions: Hard Problems and Open Challenges, 12-15 April, 2005,UH.. [AISB05]
  • Calinon, S., Guenter, F. and Billard, A. (2005) Goal-Directed Imitation in a Humanoid Robot. In Proceedings of the International Conference on Robotics and Automation (ICRA). [ICRA'2005] [show abstract] [pdf] [BibTeX]
  • Robins, B, Dautenhahn, K., te Boekhorst, R. and Billard, A. (2004) Robots as Assistive Technology - Does Appearance Matter?. Proc. IEEE Ro-man 2004, 13th IEEE International Workshop on Robot and Human Interactive Communication September 20-22, 2004 Kurashiki , Okayama Japan.. This paper won the best paper award at the 14th IEEE RO-MAN 2005 international workshop.. [RO-MAN'2004] [home page]
  • Pongas, D., Guenter, F., Guignard, A. and Billard, A. (2004) Development of a Miniature Pair of Eyes With Camera for the Humanoid Robot Robota. IEEE-RAS/RSJ International Conference on Humanoid Robots. [HUMANOIDS'2004] [home page] [show abstract] [pdf] [BibTeX]
  • Guenter, F., Guignard, A., Piccardi, L., Calzascia, M. and Billard, A. (2004) Development of a miniature articulated arm and pair of eyes for the humanoid robot Robota. In Proceeding of the IEEE/APS conference on Mechatronics and Robotics. [MechRob'04] [home page] [show abstract] [pdf] [BibTeX]
  • Calinon, S. and Billard, A. (2004) Stochastic Gesture Production and Recognition Model for a Humanoid Robot. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). [IROS'2004] [home page] [show abstract] [pdf] [BibTeX]
  • Sauser, E. and Billard, A. (2004) Three dimensional frames of reference transformations using gain modulated populations of neurons. In Proceedings of 12th European Symposium on Artificial Neural Networks, Bruges (Belgium), 543-548. [ESANN'2004] [show abstract] [pdf]
  • Billard, A., Epars, Y., Schaal, S. and Cheng, G. (2003) Discovering Imitation Strategies through Categorization of Multi-Dimensional Data. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.. [IROS'2003] [home page] [pdf]
  • Robins, B, Dautenhahn, K., te Boekhorst, R. and Billard, A. (2003) Effect of repeated exposure of a humanoid robot on children with autism - Can we encourage basic social interaction skills. In Proceedings of CWUATT, 2003. Best Paper Award. [CWUAAT] [show abstract] [pdf]
  • Calinon, S. and Billard, A. (2003) PDA Interface for Humanoid Robots. In Proceedings of the IEEE International Conference on Humanoid Robots (Humanoids). [HUMANOIDS'2003] [home page] [show abstract] [pdf] [BibTeX]
  • Billard, A. and Schaal, S. (2002) Computational elements of robot learning by imitation.. In Proceedings of the 980th American Mathematical Society, University of Wisconsin, Madison, Wisconsin, Oct. 12-13. [AMS'2002] [show abstract]
  • Dautenhahn, K. and Billard, A. (2002) Games children with autism can play with robota, a humanoid robotics doll. In Proceedings of the 1st Cambridge Workshop on Universal Access and Assistive Technology, March. [CWUAAT] [pdf]
  • Billard, A. and Arbib, M. (2001) Mirror Neurons and the neural basis for learning by imitation: A computational model. In Proceedings of the Conference on Mirror Neurons and the Evolution of Brain and Language, July 5-8, Delmenhorst, Germany.
  • Klein, M. and Billard, A. (2001) A neural model of morpheme representation. In Proceedings of the 8th Joint Symposium on Neural Computation, The Salk Institute, La Jolla, California, Mai.
  • Billard, A. and Schaal, S. (2001) Robust learning of arm trajectories through human demonstration. In Proceedings of the International Conference on Intelligent and Robotics Systems, Hawaii, November. [IROS'2001] [pdf]
  • Billard, A. and Mataric, M. (2000) A biologically inspired robotic model for learning by imitation. In Proceedings of the Fourth International Conference on Autonomous Agents, Barcelona, June. [AGENTS'2000]
  • Billard, A. and Mataric, M. (2000) Betty: ``Robot, play with me!''. Robot: ``O.K. How do we play?''. Betty: ``You watch me and do like I do. Look!". In Proceedings of the Workshop on Interactive Robotics and Entertainment, CMU, Pittsburgh, April 30 - Mai 1. [WIRE'2000]
  • Billard, A. (2000) Play, Dreams and Imitation in Robota. In Proceedings of the Workshop on Interactive Robotics and Entertainment, CMU, Pittsburgh, April 30 - Mai 1. [WIRE'2000] [pdf]
  • Billard, A. and Mataric, M. (2000) Learning motor skills by imitation. In Proceedings of the 7th Joint Symposium on Neural Computation, Los Angeles, May 20.
  • Billard, A. and Mataric, M. (2000) Learning motor skills by imitation: a biologically inspired robotic model. In the Proceedings of the Fourth International Conference on Cognitive and Neural Systems, Boston, May 24-27.
  • Billard, A. and Ijspeert, A.J. (2000) Biologically inspired neural controllers for motor control in a quadruped robot.. In Proceedings of the International Joint Conference on Neural Networks, Come (Italy), July. [IJCNN'2000] [pdf]
  • Billard, A. and Mataric, M. (2000) Learning human arm movements by imitation: Evaluation of a biologically-inspired connectionist architecture. In Proceedings of the First IEEE-RAS International Conference on Humanoid Robotics, MIT, Cambridge, MA, September 7-8. [HUMANOIDS'2000] [pdf]
  • Dautenhahn, K. and Billard, A. (1999) Studying Robot Social Cognition Within a Developmental Psychology Framework. In Proceedings of the Third European Workshop on Advanced Mobile Robots, Switzerland, September. [EUROBOT'1999] [ps.gz]
  • Dautenhahn, K. and Billard, A. (1999) Bringing up Robots or - The Psychology of Socially Intelligent Robots: From Theory to Implementation. In Proceedings of the Third International Conference on Autonomous Agents, Seattle, Washington, USA, 366-367. [AGENTS'1999]
  • Billard, A. (1999) Imitation skills as a means to enhance learning of a synthetic proto-language in an autonomous robot. In Proceedings of the AISB Symposium on Imitation in Animals and Artifacts, Edinbrugh, U.K., April.
  • Billard, A., Ijspeert, A.J. and Martinoli, A. (1999) Adaptive exploration of a dynamic environment by a group of communicating robots. In Proceedings of the 7th European Conference on Artificial Life, Lausanne, CH, September. [ECAL'1999]
  • Lund, H.H., Miglino, O., Pagliarini, L., Billard, A. and Ijspeert, A.J. (1998) Evolutionary robotics - a children's game. In Proceedings of the IEEE International Conference on Evolutionary Computation. [ICEC'1998]
  • Billard, A., Dautenhahn, K. and Hayes, G. (1998) Experiments on human-robot communication with Robota, an imitative learning and communicating doll robot. In Proceedings of the Socially Situated Intelligence Workshop, Zurich (CH), August, as part of the International Conference on Simulation of Adaptive Behavior. Also published electronically in full, as part of the Centre for Policy Modelling technical report series: No. CPM-98-38.. [SAB'1998]
  • Billard, A. and Hayes, G. (1997) 'Robot's first steps, Robot's first words ...'. In Proceedings of the Groningen Assembly on Language Acquisition, Edinburgh, 4-6 April. [GALA'1997] [ps.gz]
  • Billard, A. and Dautenhahn, K. (1997) Grounding communication in situated, social robots. In Proceedings of the Towards Intelligent Mobile Robots Conference, Manchester, Technical Report Series, Department of Computer Science, Manchester University. ISSN 1361 - 6161. Report number UMCS-97-9-1. [TIMR'1997]
  • Billard, A. and Hayes, G. (1997) Learning to Communicate through Imitation in Autonomous robots. In Wulfram Gerstner et al. (eds.), Proceedings of the 7th International Conference on Artificial Neural Networks, Springer-Verlag, October, Lausanne, CH, 763-768. [ICANN'1997] [ps.gz]
  • Billard, A. and Hayes, G. (1997) Transmitting Communication Skills through Imitation in Autonomous robots. In Proceedings of the Sixth European Workshop on Learning Robots, Brighton, July. [EWLR'1997] [pdf]


  • Books

  • Demiris, Y and Billard, A. (2006) Special Issue on Robot Learning by Observation, Demonstration and Imitation. IEEE Transaction on Systems, Man and Cybernetics, Part B. [home page] [pdf]
  • Billard, A. and Dillmann, R. (2006) The Social Mechanisms of Robot Programming By Demonstration. Robotics and Autonomous Systems, Special Issue, 54:5. [home page] [pdf]
  • Billard, A. and Schaal, S. (2006) Special Issue on the Brain Mechanisms of Imitation Learning. Neural Networks, Volume 19, Issue 3. [home page] [pdf]
  • Schaal, S., Ijspeert, A.J., Billard, A. and Vijayakumar, S. (2004) Proceedings - From Animals to Animats: The Eighth International Conference on Simulation of Adaptive Behavior. 13 - 17 July 2004, Los Angeles, CA, USA. [SAB04]
  • Billard, A. and Siegwart, R. (2004) Special Issue on Robot Programming By Demonstration. Robotics & Autonomous Systems, Special Issue on Robot Programming by Demonstration, A. Billard & R. Siegwart (eds), 47/2-3 pp 65-67, Elsevier. [show abstract] [pdf]


  • PhD Thesis

  • Billard, A. (1998) DRAMA, a connectionist model for robot learning: Experiments on grounding communication through imitation in autonomous robots. Department of Artificial Intelligence, University of Edinburgh, October.


  • Abstracts

  • Laipe, M., Barker, M., Billard, A., Noris, B., Pierrehumbert, B. and Muller, Nix C. (2012) Deciphering gaze peculiarities in children with Autism Spectrum Disorders. 13th World Congress of the World Association for Infant Mental Health. [WAIMH] [BibTeX]
  • Noris, B., Billard, A., Piccinini, L., Berti, M., Molteni, M., Keller, F., Nobile, M. and et al. (2006) Gait Analysis of Autistic Children with Echo State Networks. Workshop on Echo State Networks and Liquid State Machines. [NIPS'06] [home page] [pdf] [BibTeX]
  • Sauser, E. and Billard, A. (2006) Dynamic Selectivity in a Continuous Attractor Model of Movement Generation. Computational Neuroscience Meeting, CNS*06, Workshop on Continuous Attractor Neural Networks, Edinburgh, UK. [pdf]
  • Sauser, E. and Billard, A. (2006) Ideomotor Compatibility: Investigating Imitative Cortical Pathways. EPFL-LATSIS Symposium 2006. [Latsis'2006] [pdf]
  • Sauser, E. and Billard, A. (2005) Neural Models of the Ideomotor Principle: An Investigation of Imitative Cortical Pathways. ESF Research Conference on Brain Development and Cognition in Human Infants, Maratea, Italy.
  • Sauser, E. and Billard, A. (2005) Neural Model of the Transformation from Allo-centric to Ego-centric Representation of Motions. Fourteenth Annual Computational Neuroscience Meeting CNS*2005, Madison, USA.. [pdf]
  • Sauser, E. and Billard, A. (2004) Three dimensional frames of reference transformations using recurrent populations of neurons. Eighth International Conference on Cognitive and Neural Systems, ICCNS, Boston, USA. [pdf]
  • Sauser, E. and Billard, A. (2004) View sensitive cells as a neural basis for frames of reference transformations: A computational model. nEUro-IT.net workshop at NIPS: The Brain Mechanisms of Imitation Learning, Whistler, Canada.
  • 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. [MLMI'2004] [pdf]


  • MSc Thesis

  • Billard, A. (1996) 'Allo Kazam, do you follow me?' Learning to speak through imitation for social robots. MSc thesis, Technical Report 43, Dept. of AI, University of Edinburgh, October.


  • Other Publications

  • Sommer, N and Billard, A. (2014) Tactile exploration with the iCub robot. presented in the iCub and friends Workshop. [ICRA2014]
  • Kronander, K., Burdet, E. and Billard, A. (2014) Task Transfer via Collaborative Manipulation for Insertion Assembly. Workshop on Human-Robot Interaction for Industrial Manufacturing, Robotics, Science and Systems. [RSS2014] [show abstract] [pdf] [BibTeX]
  • Kaiyu Hang, Miao, Li, Johannes A. Stork, Yasemin Bekiroglu, Billard, A. and Danica Kragic (2014) Hierarchical Fingertip Space for Synthesizing Adaptable Fingertip Grasps. International workshop on Autonomous Grasping and Manipulation: An Open Challenge. [pdf]
  • Pais, A. L. and Billard, A. (2013) Extracting task constraints as a middle layer between low level control and high level planning. RSS Workshop on Programming with constraints. [RSS 2013] [show abstract] [pdf] [BibTeX]
  • Miao, Li, El-Khoury, S. and Billard, A. (2013) Synergy-level Grasp Synthesis Learning. Electronic proceeding of the Workshop on Hand synergies - how to tame the complexity of grasping. [ICRA 2013] [pdf]
  • Pais, A. L., Keisuke Umezawa, Yoshihiko Nakamura and Billard, A. (2013) Learning Robot Skills Through Motion Segmentation and Constraints Extraction. HRI Workshop on Collaborative Manipulation. [HRI 2013] [show abstract] [pdf] [BibTeX]
  • Sommer, N and Billard, A. (2012) Face Classification using Touch with a Humanoid Robot. presented in the Second Workshop on Advances in tactile sensing and touch-based human-robot interaction. [IROS'2012]
  • Kronander, K. and Billard, A. (2012) Learning Joint Stiffness Variations from Demonstration. presented in the workshop Learning and Interaction in Haptic Robots. [IROS'2012] [pdf]
  • Khansari Zadeh, S. M. and Billard, A. (2012) Realtime Avoidance of Fast Moving Objects: A Dynamical System-based Approach. Electronic proc. of the Workshop on Robot Motion Planning: Online, Reactive, and in Real-Time. [IROS'2012] [show abstract] [pdf] [BibTeX]
  • Pais, A. L., Billard, A., Robins, B and Dautenhahn, K. (2012) Improving human-robot interaction through facial expressions of emotion and touch detection. Poster presented at the International Conference on Cognitive Systems, Vienna, Austria. [CogSys 2012] [show abstract] [pdf] [BibTeX]
  • Pais, A. L. and Billard, A. (2012) Tactile interface user-friendliness evaluated in the context of robot programming by demonstration. HRI Workshop on Advances in tactile sensing and touch based human-robot interaction. [HRI 2012] [show abstract] [pdf] [BibTeX]
  • Khansari Zadeh, S. M. and Billard, A. (2011) Learning to Play Mini-Golf from Human Demonstration using Autonomous Dynamical Systems. Presented in International Conference on Machine Learning (ICML). [home page] [show abstract] [pdf] [BibTeX]
  • Khansari Zadeh, S. M. and Billard, A. (2011) The derivatives of the SEDS optimization cost function and constraints with respect to the learning parameters. Technical report. EPFL-REPORT-165414. [home page] [show abstract] [pdf] [BibTeX]
  • Calinon, S., Sauser, E., Dhalluin, F., Billard, A. and Caldwell, D. (2010) A learning by imitation model handling multiple constraints and motion alternatives. International Conference on Cognitive Systems (CogSys), Zuerich, Switzerland, January 27-28.. [show abstract] [pdf] [BibTeX]
  • Petreska, B., Billard, A., Hermsdörfer, J. and Goldenberg, G. (2009) What apraxia tells us about the brain hemispheres’ contributions to human imitation. Society for Neuroscience Meeting (SfN 2009), Chicago, October 17-21.. [SfN 2009] [show abstract] [BibTeX]
  • Gribovskaya, E. and Billard, A. (2009) Combining Task-Level and Trajectory-Level Learning for Teaching Robots Bimanual Coordinated Tasks. Presented at Robotics Science and Systems, Seattle..
  • Khansari Zadeh, S. M. and Billard, A. (2009) Learning and Control of UAV maneuvers Based on Demonstrations. Presented in Robotics Science and Systems, Seattle, June 28 – July 1, 2009.. [home page] [show abstract] [pdf] [BibTeX]
  • Argall, Brenna Dee, Sauser, E. and Billard, A. (2009) Tactile Correction and Multiple Training Data Sources for Robot Motion Control. NIPS 2009 Workshop on Learning from Multiple Sources with Application to Robotics, 2009. [show abstract] [pdf] [BibTeX]
  • Petreska, B. and Billard, A. (2008) Modeling Unconstrained Self-Oriented Movements. Neural Control of Movement Society Meeting (NCM 2008), Naples, Florida, April 29 - May 4.. [show abstract] [BibTeX]
  • Petreska, B. and Billard, A. (2008) Neurocomputational Modeling of Imitation through Apraxia Errors. Workshop for Women in Machine Learning (WiML 2008), colocated with NIPS, Vancouver, British Columbia, Canada, December 8, 2008.. [BibTeX]
  • Petreska, B. and Billard, A. (2008) Neurocomputational modeling of imitation deficits. Seventeenth Annual Computational Neuroscience Meeting (CNS 2008), BMC Neuroscience 2008, 9(Suppl 1):P76, Portland, Oregon, USA, July 19 - 24, 2008.. [show abstract]
  • Gribovskaya, E. and Billard, A. (2008) Human Motion Prediction in a Human-Robot Joint Task. IEEE Conference on Intelligent Robots and Systems, Workshop on Robotics Challenges for Machine Learning.. [pdf] [BibTeX]
  • Noris, B., Nobile, M., Piccinini, L., Berti, M., Molteni, M., Keller, F., Billard, A. and et al. (2006) Gait Analysis of Autistic Children with Echo State Networks. Poster presented at the NIPS'06 Worshop on Echo State Networks and Liquid State Machines. [NIPS'06] [pdf]
  • Petreska, B. and Billard, A. (2006) A Neurocomputational Model of Impaired Imitation. Poster presented at the Workshop for Women in Machine Learning, San Diego (USA). [WiML] [pdf]
  • Petreska, B., Adriani, M., Blanke, O. and Billard, A. (2006) Neural Modeling of Imitation Deficits. In Dynamical principles for neuroscience and intelligent biomimetic devices - Abstracts of the EPFL-LATSIS Symposium, A. J. Ijspeert, J. Buchli, A. Selverston, M. Rabinovich, M. Hasler, W. Gerstner, A. Billard, H. Markram and D. Floreano (eds), Lausanne. pp 117-118. [pdf]
  • Petreska, B., Adriani, M., Blanke, O. and Billard, A. (2005) Modeling of Imitation Deficits in Apraxic Patients. Poster presented at the ESF Research Conference on Brain Development and Cognition in Human Infants, Maratea (Italy). [pdf]
  • Billard, A. (2004) Imitation, Language and other Natural Means of Interactions we build for our Machines: Do we really want machines to resemble us that much?. Proceeding of the Workshop on "Sociality in Machines", Vienna, 19-20 November 2004..
  • Billard, A. and Dautenhahn, K. (1997) The social aspect of communication: a case study in the use and usefulness of communication for embodied agents. Poster presented at the 4th European Conference on Artificial Life, Brighton, July. [ECAL'1997]
  • Billard, A. and Dautenhahn, K. (1996) Grounding communication in situated, social robots. DAI Technical Paper No 45, Department of Artificial Intelligence, University of Edinburgh.


  • Peer-reviewed Videos

  • Calinon, S. and Billard, A. (2007) Incremental Learning of Gestures by Imitation in a Humanoid Robot. ACM/IEEE International Conference on Human-Robot Interaction (HRI). [Video]
  • Hersch, M., Guenter, F. and Calinon, S. (2006) Learning Dynamical System Modulation for Constrained Reaching Tasks. IEEE-RAS International Conference on Humanoid Robots (Humanoids). [Video]
  • Calinon, S., Guenter, F. and Billard, A. (2005) Goal-Directed Imitation in a Humanoid Robot. IEEE International Conference on Robotics and Automation (ICRA). [Video]
  • Calinon, S. and Billard, A. (2005) A Humanoid Robot Drawing Human Portraits. IEEE-RAS International Conference on Humanoid Robots (Humanoids). [Video]
  • Calinon, S. and Billard, A. (2004) Stochastic Gesture Production and Recognition Model for a Humanoid Robot. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
  • Calinon, S. and Billard, A. (2003) PDA Interface for Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots (Humanoids). [Video]




Last update: 11/03/08