2025

Preprints
New Mühlbauer, M., Stulp, F., Calinon, S., Albu-Schäffer, A. and Silvério, J. (2025). A Unified Framework for Probabilistic Dynamic-, Trajectory- and Vision-based Virtual Fixtures. arXiv:2506.10239. info pdf
New Li, Y. and Calinon, S. (2025). From Movement Primitives to Distance Fields to Dynamical Systems. arXiv:2504.09705. info pdf
New Lanča, L., Jakac, K., Calinon, S. and Ivić, S. (2025). Ergodic exploration of dynamic distribution. arXiv:2503.11235. info pdf
New Li, Y., Qiu, J. and Calinon, S. (2025). A Riemannian Take on Distance Fields and Geodesic Flows in Robotics. arXiv:2412.05197. info pdf
Books/book chapters
Blanc, C., Jankowski, J., Sonderegger, A., Calinon, S. and Dégallier Rochat, S. (2025). Intuitive Robot Programming. Barresi, G. and Wischniewski, S. (eds). Ergonomics in Robotics: Advances and Innovations. Springer. info pdf
Journals
New Xue, T., Razmjoo, A., Shetty, S. and Calinon, S. (2025). Robust Contact-rich Manipulation through Implicit Motor Adaptation. International Journal of Robotics Research (IJRR). info pdf
Liu, J., Li, Z., Yu, M., Dong, Z., Calinon, S., Caldwell, D.G. and Chen, F. (2025). Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstration. IEEE Robotics and Automation Magazine (RAM). info pdf
Jankowski J., Brudermüller L., Hawes N. and Calinon S. (2025). Robust Pushing: Exploiting Quasi-static Belief Dynamics and Contact-informed Optimization. International Journal of Robotics Research (IJRR). info pdf
Bilaloglu, C., Löw, T. and Calinon, S. (2025). Tactile Ergodic Coverage on Curved Surfaces. IEEE Transactions on Robotics (T-RO). info pdf
Conferences
New Beker, O., Gürtler, N., Shi, J., Geist, A.R., Razmjoo, A., Martius, G. and Calinon, S. (2025). A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS). info pdf
New Chi, X., Girgin, H., Löw, T., Xie, Y., Xue, T., Huang, J., Hu, C., Liu, Z. and Calinon, S. (2025). Efficient and Real-Time Motion Planning for Robotics Using Projection-Based Optimization. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS). info pdf
New Razmjoo, A., Calinon, S., Gienger, M. and Zhang, F. (2025). CCDP: Composition of Conditional Diffusion Policies with Guided Sampling. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS). info pdf
New Li, Z., Liu, J., Li, D., Teng, T., Li, M., Calinon, S., Caldwell, D.G. and Chen, F. (2025). ManiDP: Manipulability-Aware Diffusion Policy for Posture-Dependent Bimanual Manipulation. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS). info pdf
New Li, C., Liu, J., Teng, T., Wang, S., Calinon, S. and Chen, F. (2025). Whole-Body Impedance Control of a Humanoid Robot Based on Human-Human Demonstration for Human-Robot Collaboration. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS). info pdf
New Berio, D., Clivaz, G., Stroh, M., Deussen, O., Plamondon, R., Calinon, S. and Leymarie, F.F. (2025). Image-driven robot drawing with rapid lognormal movements. In Proc. IEEE Intl Symp. on Robot and Human Interactive Communication (Ro-Man). info pdf
New Berio, D., Calinon, S., Plamondon, R. and Leymarie, F. F. (2025). Differentiable rasterization of minimum-time sigma-lognormal trajectories. In Proc. 22nd Conference of the International Graphonomics Society (IGS). info pdf
New Calinon, S. (2025). Movement Generation and Drawing in Robotics. In Proc. 22nd Conference of the International Graphonomics Society (IGS). info pdf
New Jankowski, J., Marić, A., Liu, P., Tateo, D., Peters, J. and Calinon, S. (2025). Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey. In Proc. Robotics: Science and Systems (RSS). info pdf
Others
New Calinon, S. (2025). A Math Cookbook for Robot Manipulation. Idiap Research Institute. info pdf

2024

Journals
Braglia, G., Calinon, S. and Biagiotti, L. (2024). A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures. IEEE Robotics and Automation Letters (RA-L), 9:11, 10256-10263. info pdf
Löw, T., Abbet, P. and Calinon, S. (2024). GAFRO: Geometric Algebra for Robotics. IEEE Robotics and Automation Magazine (RAM). info pdf
Zhang, Y., Xue, T., Razmjoo, A. and Calinon, S. (2024). Logic Learning from Demonstrations for Multi-step Manipulation Tasks in Dynamic Environments. IEEE Robotics and Automation Letters (RA-L), 9:8, 7214-7221. info pdf
Marić, A., Li, Y. and Calinon, S. (2024). Online Learning of Continuous Signed Distance Fields Using Piecewise Polynomials. IEEE Robotics and Automation Letters (RA-L), 9:6, 6020-6026. info pdf
Wang, J., Kim, S., Lembono, T.S., Du, W., Shim, J., Samadi, S., Wang, K., Ivan, V., Calinon, S., Vijayakumar, S. and Tonneau, S. (2024). Online Multi-Contact Receding Horizon Planning via Value Function Approximation. IEEE Transactions on Robotics (T-RO), 40, 2791-2810. info pdf
Mühlbauer, M., Hulin, T., Weber, B., Calinon, S., Stulp, F., Albu-Schäffer, A. and Silvério, J. (2024). A Probabilistic Approach to Multi-Modal Adaptive Virtual Fixtures. IEEE Robotics and Automation Letters (RA-L), 9:6, 5298-5305. info pdf
Ti, B., Gao, Y., Zhao, J. and Calinon, S. (2024). An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks. IEEE Transactions on Robotics (T-RO), 40, 1966-1982. info pdf
Shetty, S., Lembono, T., Löw, T. and Calinon, S. (2024). Tensor Train for Global Optimization Problems in Robotics. International Journal of Robotics Research (IJRR), 43:6, 811-839. info pdf
(Best Paper Award, IEEE-RAS TC OptRob)
Conferences
Laurenzis, M. and Marić, A. and Bacher, E. and Pietrzak, M. and Schertzer, S. and Grella, F. and Calinon, S. (2024). Sparse Optical Sampling in the Close Proximity of a Robotic Arm. In Proc. European Robotics Forum (ERF). info pdf
Liu, J., Li, C., Wang, S., Dong, Z., Tang, Z., Calinon, S., Li, M. and Chen, F. (2024). Learning Goal-oriented Bimanual Dough Rolling Using Dynamic Heterogeneous Graph Based on Human Demonstration. In Proc. IEEE Intl Conf. on Robotics and Biomimetics (ROBIO). info pdf
Liu, P., Günster, J., Funk, N., Gröger, S., Chen, D., Bou Ammar, H., Jankowski, J., Marić, A., Calinon, S., Orsula, A., Olivares-Mendez, M., Zhou, H., Lioutikov, R., Neumann, G., Likmeta, A., Zhalehmehrabi, A., Bonenfant, T., Restelli, M., Tateo, D., Liu, Z. and Peters, J. (2024). A Retrospective on the Robot Air Hockey Challenge: Benchmarking Robust, Reliable, and Safe Learning Techniques for Real-world Robotics. Advances in Neural Information Processing Systems (NeurIPS). info pdf
Xue, T., Razmjoo, A., Shetty, S. and Calinon, S. (2024). Robust Manipulation Primitive Learning via Domain Contraction. In Proc. Conference on Robot Learning (CoRL). info pdf
Löw, T. and Calinon, S. (2024). Recursive Forward Dynamics for Serial Kinematic Chains using Conformal Geometric Algebra. In Proc. Intl Workshop on the Algorithmic Foundations of Robotics (WAFR). info pdf
Li, Y., Chi, X., Razmjoo, A. and Calinon, S. (2024). Configuration Space Distance Fields for Manipulation Planning. In Proc. Robotics: Science and Systems (RSS). info pdf
(Outstanding Paper Award Finalist)
Xue, T., Razmjoo, A., Shetty, S. and Calinon, S. (2024). Logic-Skill Programming: An Optimization-based Approach to Sequential Skill Planning. In Proc. Robotics: Science and Systems (RSS). info pdf
Löw, T. and Calinon, S. (2024). Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 14882-14887. info pdf
Li, Y., Zhang, Y., Razmjoo, A. and Calinon, S. (2024). Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 15351-15357. info pdf
Xue, T., Razmjoo, A. and Calinon, S. (2024). D-LGP: Dynamic Logic-Geometric Program for Reactive Task and Motion Planning. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 14888-14894. info pdf
Li, C., Wu, X., Teng, T., Calinon, S. and Chen, F. (2024). Towards Robo-Coach: Robot Interactive Stiffness/Position Adaptation for Human Strength and Conditioning Training. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 860-866. info pdf
Shetty, S., Xue, T. and Calinon, S. (2024). Generalized Policy Iteration using Tensor Approximation for Hybrid Control. In Proc. Intl Conf. on Learning Representations (ICLR). info pdf
(spotlight presentation, 5% acceptance rate)

2023

Books/book chapters
Calinon, S. (2023). Programming industrial robots from few demonstrations. Doulgeri, Z. and Dimeas, F. (eds). Human-Robot Collaboration: Unlocking the potential for industrial applications, pp. 9-37. Institution of Engineering and Technology (IET). info pdf
Girgin, H., Jankowski, J. and Calinon, S. (2023). Reactive Anticipatory Robot Skills with Memory. Billard, A., Asfour, T. and Khatib, O (eds). Robotic Research, pp. 436-451. Springer. info pdf
(presentation at ISRR 2022)
Journals
Bilaloglu, C. and Löw, T. and Calinon, S. (2023). Whole-Body Ergodic Exploration with a Manipulator Using Diffusion. IEEE Robotics and Automation Letters (RA-L), 8:12, 8581-87. info pdf
(presentation at ICRA 2024)
Löw, T. and Calinon, S. (2023). Geometric Algebra for Optimal Control with Applications in Manipulation Tasks. IEEE Transactions on Robotics (T-RO), 39:5, 3586-3600. info pdf
(Best Paper Award, Idiap) (presentation at ICRA 2024)
Ti, B., Razmjoo, A., Gao, Y., Zhao, J. and Calinon, S. (2023). A Geometric Optimal Control Approach for Imitation and Generalization of Manipulation Skills. Robotics and Autonomous Systems, 164, 104413. info pdf
Kulak, T. and Calinon, S. (2023). Combining Social and Intrinsically-Motivated Learning for Multi-Task Robot Skill Acquisition. IEEE Trans. on Cognitive and Developmental Systems, 15:2, 385-394. info pdf
Conferences
Razmjoo, A., Brecelj, T., Savevska, K., Ude, A., Petric, T. and Calinon, S. (2023). Learning Joint Space Reference Manifold for Reliable Physical Assistance. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS). info pdf
Ewerton, M., Villamizar, M., Jankowski, J., Calinon, S. and Odobez, J.-M. (2023). A Multitask and Kernel approach for Learning to Push Objects with a Task-Parameterized Deep Q-Network. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS). info pdf
Liu, J., Li, Z., Calinon, S. and Chen, F. (2023). SoftGPT: Learn Goal-oriented Soft Object Manipulation Skills by Generative Pre-trained Heterogeneous Graph Transformer. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS). info pdf
Nemec, B., Hrovat, M.M., Simonic, M., Shetty, S., Calinon, S. and Ude, A. (2023). Robust Execution of Assembly Policies Using a Pose Invariant Task Representation. In Proc. Intl Conf. on Ubiquitous Robots (UR), pp. 779-786. info pdf
Jankowski, J., Brudermüller, L., Hawes, N. and Calinon, S. (2023). VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 10125-10131. info pdf
Xue, T., Girgin, H., Lembono, T. and Calinon, S. (2023). Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 4999-5005. info pdf
Others
Calinon, S. (2023). Research statement. Idiap Research Institute. info pdf

2022

Journals
Löw, T., Maceiras, J. and Calinon, S. (2022). drozBot: Using Ergodic Control to Draw Portraits. IEEE Robotics and Automation Letters (RA-L), 7:4, 11728-34. info pdf
(presentation at IROS 2022)
Dong, Z., Li, Z., Yan, Y., Calinon, S. and Chen, F. (2022). Passive Bimanual Skills Learning from Demonstration with Motion Graph Attention Networks. IEEE Robotics and Automation Letters (RA-L), 7:2, 4917-4923. info pdf
Liu, J., Chen, Y., Dong, Z., Wang, S., Calinon, S., Li, M and Chen, F. (2022). Robot Cooking with Stir-fry: Bimanual Non-prehensile Manipulation of Semi-fluid Objects. IEEE Robotics and Automation Letters (RA-L), 7:2, 5159-5166. info pdf
Jankowski, J., Racca, M. and Calinon, S. (2022). From Key Positions to Optimal Basis Functions for Probabilistic Adaptive Control. IEEE Robotics and Automation Letters (RA-L), 7:2, 3242-3249. info pdf
(presentation at ICRA 2022)
Gao, X., Silvério, J., Calinon, S., Li, M. and Xiao, X. (2022). Bilateral Teleoperation with Object-Adaptive Mapping. Complex & Intelligent Systems, 8:4, 2983–2990. info pdf
Pignat, E., Silvério, J. and Calinon, S. (2022). Learning from Demonstration using Products of Experts: Applications to Manipulation and Task Prioritization. International Journal of Robotics Research (IJRR), 41:2, 163-188. info pdf
Shetty, S., Silvério, J. and Calinon, S. (2022). Ergodic Exploration using Tensor Train: Applications in Insertion Tasks. IEEE Trans. on Robotics (T-RO), 38:2, 906-921. info pdf
(Best Paper Award, Idiap) (presentation at IROS 2022)
Conferences
Wang, J., Lembono, T.S., Kim, S., Calinon, S., Vijayakumar, S. and Tonneau, S. (2022). Learning to Guide Online Multi-Contact Receding Horizon Planning. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pp. 12942-12949. info pdf
Ti, B., Gao, Y., Zhao, J. and Calinon, S. (2022). Imitation of Manipulation Skills Using Multiple Geometries. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pp. 7391-7398. info pdf

2021

Preprints
Thoo, Y.J., Maceiras, J., Abbet, P., Racca, M., Girgin, H. and Calinon, S. (2021). Online and Offline Robot Programming via Augmented Reality Workspaces. arXiv:2107.01884. info pdf
Journals
Tanwani, A.K., Yan, A., Lee, J., Calinon, S. and Goldberg, K. (2021). Sequential Robot Imitation Learning from Observations. International Journal of Robotics Research (IJRR), 40:10-11, 1306-1325. info pdf
Jaquier, N., Haschke, R. and Calinon, S. (2021). Tensor-variate mixture of experts for proportional myographic control of a robotic hand. Robotics and Autonomous Systems, 142:103812. info pdf
Gao, X., Silvério, J., Pignat, E., Calinon, S., Li, M. and Xiao, X. (2021). Motion Mappings for Continuous Bilateral Teleoperation. IEEE Robotics and Automation Letters (RA-L), 6:3, 5048-5055. info pdf
Jankowski, J., Girgin, H. and Calinon, S. (2021). Probabilistic Adaptive Control for Robust Behavior Imitation. IEEE Robotics and Automation Letters (RA-L), 6:2, 1997-2004. info pdf
Lembono, T.S., Pignat, E., Jankowski, J. and Calinon, S. (2021). Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network. IEEE Robotics and Automation Letters (RA-L), 6:2, 4233-4240. info pdf
Kulak, T., Girgin, H., Odobez, J.-M. and Calinon, S. (2021). Active Learning of Bayesian Probabilistic Movement Primitives. IEEE Robotics and Automation Letters (RA-L), 6:2, 2163-2170. info pdf
Naceri, A., Schumacher, T., Li, Q., Calinon, S. and Ritter, H. (2021). Learning Optimal Impedance Control During Complex 3D Arm Movements. IEEE Robotics and Automation Letters (RA-L), 6:2, 1248-1255. info pdf
Jaquier, N., Rozo, L., Caldwell, D.G. and Calinon, S. (2021). Geometry-aware Manipulability Learning, Tracking and Transfer. International Journal of Robotics Research (IJRR), 40:2-3, 624-650. info pdf
Conferences
Razmjoo, A., Lembono, T.S. and Calinon, S. (2021). Optimal Control combining Emulation and Imitation to Acquire Physical Assistance Skills. In Proc. IEEE Intl Conf. on Advanced Robotics (ICAR), pp. 338-343. info pdf
Brudermüller, L., Lembono, T.S., Shetty, S. and Calinon, S. (2021). Trajectory Prediction with Compressed 3D Environment Representation using Tensor Train Decomposition. In Proc. IEEE Intl Conf. on Advanced Robotics (ICAR), pp. 633-639. info pdf
Girgin, H., Lembono, T.S., Cirligeanu, R. and Calinon, S. (2021). Optimization of Robot Configurations for Motion Planning in Industrial Riveting. In Proc. IEEE Intl Conf. on Advanced Robotics (ICAR), pp. 247-252. info pdf
Lembono, T.S. and Calinon, S. (2021). Probabilistic Iterative LQR for Short Time Horizon MPC. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pp. 556-562. info pdf
Silvério, J., Clivaz, G. and Calinon, S. (2021). A Laser-based Dual-Arm System for Precise Control of Collaborative Robots. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 9183-9189. info pdf
Dantec, E., Budhiraja, R., Roig, A., Lembono, T.S., Saurel, G., Stasse, O., Fernbach, P., Tonneau, S., Calinon, S., Vijayakumar, S., Taïx, M. and Mansard, N. (2021). Whole Body Model Predictive Control with Memory of Motion: Experiments on a Torque-Controlled TALOS. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 8202-8208. info pdf
Others
Dimitropoulos, K., Daras, P., Manitsaris, S., Leymarie, F.F. and Calinon, S. (2021). Editorial: Artificial Intelligence and Human Movement in Industries and Creation. Frontiers in Robotics and AI, 8:712521. info pdf
Kulak, T. and Calinon, S. (2021). Intrinsically-Motivated Robot Learning of Bayesian Probabilistic Movement Primitives. ICRA Workshop "Towards Curious Robots: Modern Approaches for Intrinsically-Motivated Intelligent Behavior". info pdf
(Best Poster Award)

2020

Journals
Calinon, S. (2020). Gaussians on Riemannian Manifolds: Applications for Robot Learning and Adaptive Control. IEEE Robotics and Automation Magazine (RAM), 27:2, 33-45. info pdf
Lembono, T.S., Paolillo, A., Pignat, E. and Calinon, S. (2020). Memory of Motion for Warm-starting Trajectory Optimization. IEEE Robotics and Automation Letters (RA-L), 5:2, 2594-2601. info pdf
Chatzilygeroudis, K., Vassiliades, V., Stulp, F., Calinon, S. and Mouret, J.-B. (2020). A Survey on Policy Search Algorithms for Learning Robot Controllers in a Handful of Trials. IEEE Trans. on Robotics (T-RO), 32:2, 328-347. info pdf
Conferences
Pignat, E., Girgin, H. and Calinon, S. (2020). Generative Adversarial Training of Product of Policies for Robust and Adaptive Movement Primitives. In Proc. Conference on Robot Learning (CoRL). info pdf
Jaquier, N., Rozo, L. and Calinon, S. (2020). Analysis and Transfer of Human Movement Manipulability in Industry-like Activities. In Proc. of IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pp. 11131-11138. info pdf
Girgin, H., Pignat, E., Jaquier, N. and Calinon, S. (2020). Active Improvement of Control Policies with Bayesian Gaussian Mixture Model. In Proc. of IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pp. 5395-5401. info pdf
Kulak, T., Silvério, J. and Calinon, S. (2020). Fourier movement primitives: an approach for learning rhythmic robot skills from demonstrations. In Proc. of Robotics: Science and Systems (RSS). info pdf
Panteris, M., Manschitz, S. and Calinon, S. (2020). Learning, Generating and Adapting Wave Gestures for Expressive Human-Robot Interaction. In Proc. ACM/IEEE Intl Conf. on Human-Robot Interaction (HRI), pp. 386-388. info pdf
Pignat, E., Lembono, T.S. and Calinon, S. (2020). Variational Inference with Mixture Model Approximation for Applications in Robotics. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 3395-3401. info pdf
Lembono, T.S., Mastalli, C., Fernbach, P., Mansard, N. and Calinon, S. (2020). Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 1357-1363. info pdf
Paolillo, A., Lembono, T.S. and Calinon, S. (2020). A memory of motion for visual predictive control tasks. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 9014-9020. info pdf

2019

Books/book chapters
Calinon, S. (2019). Mixture Models for the Analysis, Edition, and Synthesis of Continuous Time Series. Bouguila, N. and Fan, W. (eds). Mixture Models and Applications, pp. 39-57. Springer. info pdf
Berio, D., Fol Leymarie, F. and Calinon, S. (2019). Interactive Generation of Calligraphic Trajectories from Gaussian Mixtures. Bouguila, N. and Fan, W. (eds). Mixture Models and Applications, pp. 23-38. Springer. info pdf
Calinon, S. (2019). Learning from Demonstration (Programming by Demonstration). Ang, M.H., Khatib, O. and Siciliano, B. (eds). Encyclopedia of Robotics. Springer. info pdf
Calinon, S. and Lee, D. (2019). Learning Control. Vadakkepat, P. and Goswami, A. (eds.). Humanoid Robotics: a Reference, pp. 1261-1312. Springer. info pdf
Journals
Jacques, C., Pignat, E., Calinon, S. and Liebling, M. (2019). Temporal Super-Resolution Microscopy Using a Hue-Encoded Shutter. Biomedical Optics Express, 10:9, 4727-4741. info pdf
Pignat, E. and Calinon, S. (2019). Bayesian Gaussian Mixture Model for Robotic Policy Imitation. IEEE Robotics and Automation Letters (RA-L), 4:4, 4452-4458. info pdf
Tanwani, A.K. and Calinon, S. (2019). Small Variance Asymptotics for Non-Parametric Online Robot Learning. International Journal of Robotics Research (IJRR), 38:1, 3-22. info pdf
Silvério, J., Calinon, S., Rozo, L. and Caldwell, D.G. (2019). Learning Task Priorities from Demonstrations. IEEE Trans. on Robotics, 35:1, 78-94. info pdf
Havoutis, I. and Calinon, S. (2019). Learning from demonstration for semi-autonomous teleoperation. Autonomous Robots, 43:3, 713-726. info pdf
Conferences
Jaquier, N., Ginsbourger, D. and Calinon, S. (2019). Learning from demonstration with model-based Gaussian process. In Proc. Conference on Robot Learning (CoRL). info pdf
Jaquier, N., Rozo, L., Calinon, S. and Buerger, M. (2019). Bayesian Optimization Meets Riemannian Manifolds in Robot Learning. In Proc. Conference on Robot Learning (CoRL). info pdf
(Best Presentation Award)
Suomalainen, M., Calinon, S., Pignat, E. and Kyrki, V. (2019). Improving dual-arm assembly by master-slave compliance. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 8676-8682. info pdf

2018

Books/book chapters
Calinon, S. (2018). Robot Learning with Task-Parameterized Generative Models. Bicchi, A. and Burgard, W. (eds). Robotics Research, pp. 111-126. Springer International Publishing. info pdf
(presentation at ISRR 2015)
Journals
Birk, A., Doernbach, T., Mueller, C.A., Luczynski, T., Gomez Chavez, A., Koehntopp, D., Kupcsik, A., Calinon, S., Tanwani, A.K., Antonelli, G., di Lillo, P., Simetti, E., Casalino, G., Indiveri, G., Ostuni, L., Turetta, A., Caffaz, A., Weiss, P., Gobert, T., Chemisky, B., Gancet, J., Siedel, T., Govindaraj, S., Martinez, X. and Letier, P. (2018). Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles. IEEE Robotics and Automation Magazine (RAM), 25:4, 24-33. info pdf
Rozo, L., Ben Amor, H., Calinon, S., Dragan, A. and Lee, D. (2018). Special issue on robot learning for human-robot collaboration. Autonomous Robots, 42:5, 953-956. info pdf
Ficuciello, F., Falco, P. and Calinon, S. (2018). A Brief Survey on the Role of Dimensionality Reduction in Manipulation Learning and Control. IEEE Robotics and Automation Letters (RA-L), 3:3, 2608-2615. info pdf
Jaquier, N. and Calinon, S. (2018). Improving the control of prosthetic hands with tactile sensing. Micro & Nano Magazine, Micronarc, pp. 42-43. info pdf
Giusti, A., Zeestraten, M.J.A., Icer, E., Pereira, A., Caldwell, D.G., Calinon, S. and Althoff, M. (2018). Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics. IEEE Robotics and Automation Magazine (RAM), 25:2, 18-27. info pdf
Zeestraten, M.J.A., Havoutis, I. and Calinon, S. (2018). Programming by Demonstration for Shared Control with an Application in Teleoperation. IEEE Robotics and Automation Letters (RA-L), 3:3, 1848-1855. info pdf
Conferences
Tanwani, A.K., Lee, J., Thananjeyan, B., Laskey, M., Krishnan, S., Fox, R., Goldberg, K. and Calinon, S. (2018). Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models. In Proc. of the 13th Intl Workshop on the Algorithmic Foundations of Robotics (WAFR). info pdf
Silvério, J., Calinon, S., Rozo, L. and Caldwell, D.G. (2018). Bimanual Skill Learning with Pose and Joint Space Constraints. In Proc. of the IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), pp. 153-159. info pdf
Silvério, J., Huang, Y., Rozo, L., Calinon, S. and Caldwell, D.G. (2018). Probabilistic Learning of Torque Controllers from Kinematic and Force Constraints. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pp. 6552-6559. info pdf
Jaquier, N., Rozo, L., Caldwell, D.G and Calinon, S. (2018). Geometry-aware Tracking of Manipulability Ellipsoids. In Proc. of Robotics: Science and Systems (RSS). info pdf
Canal, G., Pignat, E., Alenya, G., Calinon, S. and Torras, C. (2018). Joining high-level symbolic planning with low-level motion primitives in adaptive HRI: application to dressing assistance. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 3273-3278. info pdf

2017

Journals
Jaquier, N., Connan, M., Castellini, C. and Calinon, S. (2017). Combining Electromyography and Tactile Myography to Improve Hand and Wrist Activity Detection in Prostheses. Technologies, 5:4, Special Issue on Assistive Robotics. info pdf
Pignat, E. and Calinon, S. (2017). Learning adaptive dressing assistance from human demonstration. Robotics and Autonomous Systems, 93, 61-75. info pdf
Zeestraten, M.J.A., Havoutis, I., Silvério, J., Calinon, S. and Caldwell, D.G. (2017). An Approach for Imitation Learning on Riemannian Manifolds. IEEE Robotics and Automation Letters (RA-L), 2:3, 1240-1247. info pdf
Bruno, D., Calinon, S. and Caldwell, D.G. (2017). Learning Autonomous Behaviours for the Body of a Flexible Surgical Robot. Autonomous Robots, 41:2, 333-347. info pdf
Conferences
Jaquier, N. and Calinon, S. (2017). Gaussian Mixture Regression on Symmetric Positive Definite Matrices Manifolds: Application to Wrist Motion Estimation with sEMG. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pp. 59-64. info pdf
Rozo, L., Jaquier, N., Calinon, S. and Caldwell, D.G. (2017). Learning Manipulability Ellipsoids for Task Compatibility in Robot Manipulation. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pp. 3183-3189. info pdf
Zeestraten, M.J.A., Havoutis, I., Calinon, S. and Caldwell, D.G. (2017). Learning Task-Space Synergies using Riemannian Geometry. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pp. 73-78. info pdf
Tanwani, A.K. and Calinon, S. (2017). A Generative Model for Intention Recognition and Manipulation Assistance in Teleoperation. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pp. 43-50. info pdf
Jaquier, N., Castellini, C. and Calinon, S. (2017). Improving Hand and Wrist Activity Detection Using Tactile Sensors and Tensor Regression Methods on Riemannian Manifolds. Myoelectric Controls Symposium (MEC). info pdf
Berio, D., Calinon, S. and Fol Leymarie, F. (2017). Dynamic Graffiti Stylisation with Stochastic Optimal Control. In Proc. of the Intl Workshop on movement and computing (MOCO), pp. 1-8. info pdf
Berio, D., Calinon, S. and Fol Leymarie, F. (2017). Generating Calligraphic Trajectories with Model Predictive Control. In Proc. of the 43rd Conf. on Graphics Interface, pp. 132-139. info pdf
Havoutis, I. and Calinon, S. (2017). Supervisory teleoperation with online learning and optimal control. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 1534-1540. info pdf
Mastalli, C., Focchi, M., Havoutis, I., Radulescu, A., Calinon, S., Buchli, J., Caldwell, D.G. and Semini, C. (2017). Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), pp. 1096-1103. info pdf

2016

Books/book chapters
Billard, A., Calinon, S. and Dillmann, R. (2016). Learning From Humans. Siciliano, B. and Khatib, O. (eds.). Handbook of Robotics, 2nd Edition, Chapter 74, pp. 1995-2014. Springer. info pdf
Journals
Rozo, L., Silvério, J., Calinon, S. and Caldwell, D.G. (2016). Learning Controllers for Reactive and Proactive Behaviors in Human-Robot Collaboration. Frontiers in Robotics and AI, 3:30, 1-11. info pdf
Rozo, L., Calinon, S., Caldwell, D.G., Jimenez, P. and Torras, C. (2016). Learning Physical Collaborative Robot Behaviors from Human Demonstrations. IEEE Trans. on Robotics, 32:3, 513-527. info pdf
Tanwani, A.K. and Calinon, S. (2016). Learning Robot Manipulation Tasks with Task-Parameterized Semi-Tied Hidden Semi-Markov Model. IEEE Robotics and Automation Letters (RA-L), 1:1, 235-242. info pdf
(Best Manipulation Paper Award Finalist at ICRA'2016)
Calinon, S. (2016). A Tutorial on Task-Parameterized Movement Learning and Retrieval. Intelligent Service Robotics (Springer), 9:1, 1-29. info pdf
(Best Paper Award)
Conferences
Gancet, J., Weiss, P., Antonelli, G., Pfingsthorn, M. F., Calinon, S., Turetta, A., Walen, C., Urbina, D., Govindaraj, S., Letier, P., Martinez, X., Salini, J., Chemisky, B., Indiveri, G., Casalino, G., Di Lillo, P., Simetti, E., De Palma, D., Birk, A., Tanwani, A., Havoutis, I., Caffaz, A. and Guilpain, L. (2016). Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project. In Proc. IFAC Conference on Control Applications in Marine Systems (CAMS), pp. 414-419. info pdf
Calinon, S. (2016). Stochastic learning and control in multiple coordinate systems. Intl Workshop on Human-Friendly Robotics (HFR). info pdf
Havoutis, I. and Calinon, S. (2016). Learning assistive teleoperation behaviors from demonstration. In Proc. of the IEEE Intl Symp. on Safety, Security and Rescue Robotics (SSRR), pp. 258-263. info pdf
Berio, D., Calinon, S. and Fol Leymarie, F. (2016). Learning dynamic graffiti strokes with a compliant robot. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), pp. 3981-3986. info pdf
Rozo, L., Silvério, J., Calinon, S. and Caldwell, D.G. (2016). Exploiting Interaction Dynamics for Learning Collaborative Robot Behaviors. Interactive Machine Learning Workshop, Intl Joint Conf. on Artificial Intelligence (IJCAI). info pdf
Zeestraten, M.J.A., Pereira, A., Althoff, M. and Calinon, S. (2016). Online motion synthesis with minimal intervention control and formal safety guarantees. In Proc. of the IEEE Intl Conf. on on Systems, Man, and Cybernetics (SMC), Budapest, Hungary. info pdf
Zeestraten, M., Calinon, S. and Caldwell, D.G. (2016). Variable Duration Movement Encoding with Minimal Intervention Control. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Stockholm, Sweden, pp. 497-503. info pdf

2015

Journals
Lee, S.H., Suh, I.H., Calinon, S. and Johansson, R. (2015). Autonomous Framework for Segmenting Robot Trajectories of Manipulation Task. Autonomous Robots (Springer), 38:2, 107-141. info
Conferences
Bruno, D., Calinon, S., Malekzadeh, M. and Caldwell, D.G. (2015). Learning the stiffness of a continuous soft manipulator from multiple demonstrations. Intelligent Robotics and Applications, Lecture Notes in Computer Science 9246, 185-195, Springer. info pdf
(Best Paper Award Finalist at ICIRA'2015)
Silvério, J., Rozo, L., Calinon, S. and Caldwell, D. G. (2015). Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 464-470. info pdf
Rozo, L., Bruno, D., Calinon, S. and Caldwell, D.G. (2015). Learning Optimal Controllers in Human-robot Cooperative Transportation Tasks with Position and Force Constraints. In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 1024-1030. info pdf
Calinon, S. (2015). Robot learning with task-parameterized generative models. Intl Symp. on Robotics Research (ISRR). info pdf
Gancet, J., Urbina, D., Letier, P., Ilzokvitz, M., Weiss, P., Gauch, F., Antonelli, G., Indiveri, G., Casalino, G., Birk, A., Pfingsthorn, M.F., Calinon, S., Tanwani, A., Turetta, A., Walen, C. and Guilpain, L. (2015). DexROV: Dexterous Undersea Inspection and Maintenance in Presence of Communication Latencies. IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV). info pdf

2014

Journals
Malekzadeh, M.S., Calinon, S., Bruno, D. and Caldwell, D.G. (2014). Learning by Imitation with the STIFF-FLOP Surgical Robot: A Biomimetic Approach Inspired by Octopus Movements. Robotics and Biomimetics (Springer) 1:13, 1-15, Special Issue on Medical Robotics. info pdf
Calinon, S., Bruno, D., Malekzadeh, M.S., Nanayakkara, T. and Caldwell, D.G. (2014). Human-robot skills transfer interfaces for a flexible surgical robot. Computer Methods and Programs in Biomedicine (Elsevier) 116:2, 81-96, Special issue on new methods of human-robot interaction in medical practice. info pdf
Conferences
Malekzadeh, M.S., Calinon, S., Bruno, D. and Caldwell, D.G. (2014). A Skill Transfer Approach for Continuum Robots - Imitation of Octopus Reaching Motion with the STIFF-FLOP Robot. In Proc. of the AAAI Symp. on Knowledge, Skill, and Behavior Transfer in Autonomous Robots, Arlington, VA, USA, pp. 49-52. info pdf
Calinon, S. (2014). Skills Learning in Robots by Interaction with Users and Environment. In Proc. of the Intl Conf. on Ubiquitous Robots and Ambient Intelligence (URAI), Kuala Lumpur, Malaysia, pp. 161-162. info pdf
Bruno, D., Calinon, S. and Caldwell, D.G. (2014). Learning Adaptive Movements from Demonstration and Self-Guided Exploration. In Proc. of the IEEE Intl Conf. on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), Genoa, Italy, pp. 160-165. info pdf
Rozo, L., Calinon, S. and Caldwell, D.G. (2014). Learning Force and Position Constraints in Human-robot Cooperative Transportation. In Proc. of the IEEE Intl Symp. on Robot and Human Interactive Communication (Ro-Man), Edinburgh, Scotland, UK, pp. 619-624. info pdf
Calinon, S., Bruno, D. and Caldwell, D.G. (2014). A task-parameterized probabilistic model with minimal intervention control. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Hong Kong, China, pp. 3339-3344. info pdf
Bruno, D., Calinon, S. and Caldwell, D.G. (2014). Null space redundancy learning for a flexible surgical robot. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Hong Kong, China, pp. 2443-2448. info pdf
Alizadeh, T., Calinon, S. and Caldwell, D.G. (2014). Learning from demonstrations with partially observable task parameters. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Hong Kong, China, pp. 3309-3314. info pdf

2013

Journals
Kormushev, P., Calinon, S. and Caldwell, D. G. (2013). Reinforcement learning in robotics: Applications and real-world challenges. Robotics 2:3, 122-148. info pdf
Calinon, S., Kormushev, P. and Caldwell, D. G. (2013). Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning. Robotics and Autonomous Systems 61:4, 369-379. info pdf
Conferences
Calinon, S., Alizadeh, T. and Caldwell, D.G. (2013). On improving the extrapolation capability of task-parameterized movement models. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, pp. 610-616. info pdf
(Best Cognitive Paper Award Finalist)
Malekzadeh, M.S., Bruno, D., Calinon, S., Nanayakkara, T. and Caldwell, D.G. (2013). Skills transfer across dissimilar robots by learning context-dependent rewards. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, pp. 1746-1751. info pdf
Rozo, L., Calinon, S., Caldwell, D.G., Jimenez, P. and Torras, C. (2013). Learning collaborative impedance-based robot behaviors. In Proc. of the AAAI Conference on Artificial Intelligence, Bellevue, WA, USA, pp. 1422-1428. info pdf
Bruno, D., Calinon, S. and Caldwell, D.G. (2013). Bayesian nonparametric multi-optima policy search in reinforcement learning. In Proc. of the AAAI Conference on Artificial Intelligence, Bellevue, WA, USA, pp. 1374-1380. info pdf
Rozo, L., Jimenez, P. and Torras, C. (2013). Force-based robot learning of pouring skills using parametric hidden Markov models. In Proc. of the IEEE-RAS Intl Workshop on Robot Motion and Control (RoMoCo), Wasowo, Poland, pp. 227-232. info pdf

2012

Journals
De Tommaso, D., Calinon, S. and Caldwell, D.G. (2012). A Robotized Projective Interface for Human-Robot Learning Scenarios. Cybernetics And Information Technologies 12:3, 96-106. info pdf
De Tommaso, D., Calinon, S. and Caldwell, D.G. (2012). A tangible interface for transferring skills using perception and projection capabilities in human-robot collaboration tasks. Intl Journal of Social Robotics 4:4, 397-408, Special Issue on Learning from Demonstration (Springer). info pdf
Zappi, V., Pistillo, A., Calinon, S., Brogni, A. and Caldwell, D.G. (2012). Music Expression with a Robot Manipulator Used as a Bidirectional Tangible Interface. EURASIP Journal on Audio, Speech, and Music Processing 2012:2, 1-11, Special Issue on Music Content Processing by and for Robots (Springer). info pdf
Conferences
Calinon, S., Li, Z., Alizadeh, T., Tsagarakis, N.G. and Caldwell, D.G. (2012). Statistical dynamical systems for skills acquisition in humanoids. In Proc. of the IEEE Intl Conf. on Humanoid Robots (Humanoids), Osaka, Japan, pp. 323-329. info pdf
Lee, S.H., Suh, I.H., Calinon, S. and Johansson, R. (2012). Learning Basis Skills by Autonomous Segmentation of Humanoid Motion Trajectories. In Proc. of the IEEE Intl Conf. on Humanoid Robots (Humanoids), Osaka, Japan, pp. 112-119. info pdf
Calinon, S., Pervez, A. and Caldwell, D. G. (2012). Multi-optima exploration with adaptive Gaussian mixture model. In Proc. of the Intl Conf. on Development and Learning (ICDL-EpiRob), San Diego, CA, USA, pp. 1-6. info pdf
Calinon, S., Li, Z., Alizadeh, T., Tsagarakis, N.G. and Caldwell, D.G. (2012). Teaching of bimanual skills in a compliant humanoid robot. Intl Workshop on Human-Friendly Robotics (HFR), Brussels, Belgium. info pdf
Kormushev, P., Calinon, S., Ugurlu, B. and Caldwell, D. G. (2012). Challenges for the Policy Representation when Applying Reinforcement Learning in Robotics. In Proc. of the Intl Joint Conf. on Neural Networks (IJCNN), Brisbane, Australia, pp. 2819-2826. info pdf
De Tommaso, D., Calinon, S. and Caldwell, D. G. (2012). Using Compliant Robots as Projective Interfaces in Dynamic Environments. In Proc. of the Intl Conf. on Social Robotics (ICSR), LNAI 7621, Springer-Verlag, pp. 338-347. info pdf

2011

Conferences
Calinon, S., Pistillo, A. and Caldwell, D.G. (2011). Encoding the time and space constraints of a task in explicit-duration Hidden Markov Model. In Proc. of the IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, pp. 3413-3418. info pdf
Pistillo, A., Calinon, S. and Caldwell, D.G. (2011). Bilateral Physical Interaction with a Robot Manipulator through a Weighted Combination of Flow Fields. In Proc. of the IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, pp. 3047-3052. info pdf
Kormushev, P., Ugurlu, B., Calinon, S., Tsagarakis, N. and Caldwell, D.G. (2011). Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization. In Proc. of the IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, pp. 318-324. info pdf
Kormushev, P., Nenchev, D.N., Calinon, S. and Caldwell, D.G. (2011). Upper-body Kinesthetic Teaching of a Free-standing Humanoid Robot. In Proc. of the IEEE Intl Conference on Robotics and Automation (ICRA), Shanghai, China, pp. 3970-3975. info pdf

2010

Journals
Kormushev, P., Calinon, S. and Caldwell, D.G. (2010). Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input. RSJ Advanced Robotics, 25:5, 581-603. info pdf
Calinon, S., D'halluin, F., Sauser, E.L., Caldwell, D.G. and Billard, A.G. (2010). Learning and reproduction of gestures by imitation: An approach based on Hidden Markov Model and Gaussian Mixture Regression. IEEE Robotics and Automation Magazine, 17:2, 44-54. info pdf
Conferences
Kormushev, P., Calinon, S. and Caldwell, D.G. (2010). Approaches for Learning Human-like Motor Skills which Require Variable Stiffness During Execution. In Proc. of the IEEE Intl Conf. on Humanoid Robots (Humanoids), Workshop on Humanoid Robots Learning from Human Interaction, Nashville, TN, USA. info pdf
Kormushev, P., Calinon, S., Saegusa, R. and Metta, G. (2010). Learning the skill of archery by a humanoid robot iCub. In Proc. of the IEEE Intl Conf. on Humanoid Robots (Humanoids), Nashville, TN, USA, pp. 417-423. info pdf
Calinon, S., Sardellitti, I. and Caldwell, D.G. (2010). Learning-based control strategy for safe human-robot interaction exploiting task and robot redundancies. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pp. 249-254. info pdf
Kormushev, P., Calinon, S. and Caldwell, D.G. (2010). Robot Motor Skill Coordination with EM-based Reinforcement Learning. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pp. 3232-3237. info pdf
Calinon, S., Sauser, E.L., Billard, A.G. and Caldwell, D.G. (2010). Evaluation of a probabilistic approach to learn and reproduce gestures by imitation. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Anchorage, Alaska, USA, pp. 2381-2388. info pdf
Others
Calinon, S., Sauser, E.L., D'halluin, F., Billard, A.G. and Caldwell, D.G. (2010). A learning by imitation model handling multiple constraints and motion alternatives. International Conference on Cognitive Systems (CogSys), Zuerich, Switzerland. info pdf

2009

Books/book chapters
Calinon, S. (2009). Robot Programming by Demonstration: A Probabilistic Approach. EPFL Press ISBN 978-2-940222-31-5, CRC Press ISBN 978-1-4398-0867-2. info
Journals
Calinon, S. and Billard, A. (2009). Statistical Learning by Imitation of Competing Constraints in Joint Space and Task Space. RSJ Advanced Robotics, 23, 2059-2076. info pdf
Conferences
Calinon, S., D'halluin, F., Caldwell, D.G. and Billard, A. (2009). Handling of multiple constraints and motion alternatives in a robot programming by demonstration framework. In Proc. of the IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), Paris, France, pp. 582-588. info pdf
(Best Paper Award Finalist)
Evrard, P., Gribovskaya, E., Calinon, S., Billard, A. and Kheddar, A. (2009). Teaching physical collaborative tasks: Object-lifting case study with a humanoid. In Proc. of the IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), Paris, France, pp. 399-404. info pdf
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. In Proc. of the IEEE Intl Symp. on Robot and Human Interactive Communication (Ro-Man), Toyama, Japan, pp. 147-152. info pdf
Calinon, S., Evrard, P., Gribovskaya, E., Billard A. and Kheddar, A. (2009). Learning collaborative manipulation tasks by demonstration using a haptic interface. In Proc. of the Intl Conf. on Advanced Robotics (ICAR), Munich, Germany, pp. 1-6. info pdf

2008

Books/book chapters
Billard, A., Calinon, S., Dillmann R. and Schaal, S. (2008). Robot Programming by Demonstration. Siciliano, B. and Khatib, O. (eds.). Handbook of Robotics, pp. 1371-1394. Springer. info pdf
(book winner of two PROSE Awards)
Journals
Hersch, M., Guenter, F., Calinon, S. and Billard, A. (2008). Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations. IEEE Transactions on Robotics, 24:6, 1463-1467. info pdf
Conferences
Calinon, S. and Billard, A. (2008). A Probabilistic Programming by Demonstration Framework Handling Constraints in Joint Space and Task Space. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Nice, France, pp. 367-372. info pdf
Calinon, S. and Billard, A. (2008). A framework integrating statistical and social cues to teach a humanoid robot new skills. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Workshop on Social Interaction with Intelligent Indoor Robots, Pasadena, CA, USA. info pdf

2007

Books/book chapters
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, pp. 153-177. Cambridge University Press. info pdf
Journals
Guenter, F., Hersch, M., Calinon, S. and Billard, A. (2007). Reinforcement Learning for Imitating Constrained Reaching Movements. RSJ Advanced Robotics, Special Issue on Imitative Robots, 21:13, 1521-1544. info pdf
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, 441-464. info 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, Part B, Special issue on robot learning by observation, demonstration and imitation, 37:2, 286-298. info pdf
Conferences
Calinon, S. and Billard, A. (2007). Active Teaching in Robot Programming by Demonstration. In Proc. of the IEEE Intl Symp. on Robot and Human Interactive Communication (RO-MAN), Jeju, Korea, pp. 702-707. info pdf
(RO-MAN'07 Best Paper Award)
Calinon, S. and Billard, A. (2007). Incremental Learning of Gestures by Imitation in a Humanoid Robot. In Proc. of the ACM/IEEE Intl Conf. on Human-Robot Interaction (HRI), Arlington, VA, USA, pp. 255-262. info pdf
Others
Calinon, S. (2007). Continuous Extraction of Task Constraints in a Robot Programming by Demonstration Framework. PhD thesis, Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique Federale de Lausanne (EPFL). info

2006

Journals
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, 370-384. info pdf
Conferences
Hersch, M., Guenter, F., Calinon, S. and Billard, A. (2006). Learning Dynamical System Modulation for Constrained Reaching Tasks. In Proc. of the IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), Genova, Italy, pp. 444-449. info pdf
Calinon, S. and Billard, A. (2006). Teaching a Humanoid Robot to Recognize and Reproduce Social Cues. In Proc. of the IEEE Intl Symp. on Robot and Human Interactive Communication (Ro-Man), Hatfield, UK, pp. 346-351. info pdf
Calinon, S., Guenter, F. and Billard, A. (2006). On Learning the Statistical Representation of a Task and Generalizing it to Various Contexts. In Proc. of the IEEE Intl Conf. on Robotics and Automation (ICRA), Orlando, FL, USA, pp. 2978-2983. info pdf

2005

Conferences
Calinon, S., Epiney, J. and Billard, A. (2005). A Humanoid Robot Drawing Human Portraits. In Proc. of the IEEE-RAS Intl Conf. on Humanoid Robots (Humanoids), Tsukuba, Japan, pp. 161-166. info pdf
Calinon, S. and Billard, A. (2005). Recognition and Reproduction of Gestures using a Probabilistic Framework combining PCA, ICA and HMM. In Proc. of the Intl Conf. on Machine Learning (ICML), Bonn, Germany, pp. 105-112. info pdf
Calinon, S., Guenter, F. and Billard, A. (2005). Goal-Directed Imitation in a Humanoid Robot. In Proc. of the Intl Conf. on Robotics and Automation (ICRA), Barcelona, Spain, pp. 299-304. info pdf
Others
Calinon, S. and Billard, A. (2005). Learning of Gestures by Imitation in a Humanoid Robot. International Symposium on Imitation in Animals and Artifacts (AISB), Hatfield, UK. info

2004

Journals
Billard, A., Epars, Y., Calinon, S., Schaal, S. and Cheng, G. (2004). Discovering Optimal Imitation Strategies. Robotics and Autonomous Systems, Special Issue: Robot Learning from Demonstration, 47:2-3, 69-77. info pdf
Conferences
Calinon, S. and Billard, A. (2004). Stochastic Gesture Production and Recognition Model for a Humanoid Robot. In Proc. of the IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Sendai, Japan, pp. 2769-2774. info pdf
Others
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. info pdf

2003

Conferences
Calinon, S. and Billard, A. (2003). PDA Interface for Humanoid Robots. In Proc. of the IEEE Intl Conf. on Humanoid Robots (Humanoids), Karlsruhe, Germany, pp. 1-16. info pdf
Others
Calinon, S. (2003). PDA Interface for Humanoid Robots using Speech and Vision Processing. MSc thesis, Autonomous Systems Laboratory (ASL), Ecole Polytechnique Federale de Lausanne (EPFL). info