Publications

See the list in: Google Scholar, DBLP

PREPRINTS

Chaveroche, M.; Malaisé, A.; Colas, F.; Charpillet, F.; Ivaldi, S. (2018) A Variational Time Series Feature Extractor for Action Prediction. arXiv:1807.02350 [cs.LG]
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INTERNATIONAL JOURNALS

[J18] Ivaldi, S. (2018) Intelligent Human-Robot Collaboration with Prediction and Anticipation. ERCIM News, Vol. 114, Pages 9–11.
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[J17] Ivaldi, S.; M. Pateraki (2018) Human-Robot Interaction – Introduction to the Special Theme. ERCIM News, Vol. 114, Pages 6–7.
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[J16] Ajoudani, A.; Zanchettin, A.M.; Ivaldi, S.; Albu-Schaeffer, A.; Kosuge, K.; Khatib, O. (2018) Progress and Prospects of the Human-Robot Collaboration. Autonomous Robots, Vol. 42, Issue 5, Pages 957–975.
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[J15] Romano, F.; Nava, G.; Azad, M.; Camernik, J.; Dafarra, S.; Dermy, O.; Latella, C.; Lazzaroni, M.; Lober, R.; Lorenzini, M.; Pucci, D.; Sigaud, O.; Traversaro, S.; Babic, J.; Ivaldi, S.; Mistry, M.; Padois, V.; Nori, F.; (2018) The CoDyCo Project achievements and beyond: Towards Human Aware Whole-body Controllers for Physical Human Robot Interaction. IEEE Robotics and Automation Letters, Vol. 3, N.1, Pages 516-523.
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[J14] Dermy, O.; Paraschos, A.; Ewerton, M.; Peters, J.; Charpillet, F.; Ivaldi, S. (2017) Prediction of intention during interaction with iCub with Probabilistic Movement Primitives. Frontiers in Robotics & AI, 4:45, doi: 10.3389/frobt.2017.00045.
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[J13] Anzalone, S.M.; Varni, G.; Ivaldi, S.; Chetouani, M. (2017) Automated prediction of Extraversion during Human-Humanoid interaction. Int. Journal of Social Robotics.
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[J12] Padois, V.; Ivaldi, S.; Babic, J,; Mistry, M.; Peters, J.; Nori, F. (2017) Whole-body multi-contact motion in Humans and Humanoids: Advances of the CoDyCo European project. Robotics and Autonomous Systems, Vol. 90, Pages 97–117.
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[J11] Ivaldi, S.; Lefort, S.; Peters, J.; Chetouani, M.; Provasi, J.; Zibetti, E. (2017) Towards engagement models that consider individual factors in HRI: on the relation of extroversion and negative attitude towards robots to gaze and speech during a human-robot assembly task. International Journal of Social Robotics. Vol 9, No 1, Pages 63-86.
[ HTML | PDF ]   Preprint at arXiv:1508.04603 [cs.RO].

[J10] Gaudiello, I.; Zibetti, E.; Lefort, S.; Chetouani, M.; Ivaldi, S. (2016) Trust as indicator of robot functional and social acceptance. An experimental study on user conformation to the iCub’s answers. Computers in Human Behavior, vol. 61, pp. 633-655.
[ HTML | PDF ] Preprint at arXiv:1510.03678 [cs.RO]

[J9] Ivaldi, S.; Babic, J.; Mistry, M.; Murphy, R. (2016) Special Issue on Whole-body control of contacts and dynamics for humanoid robots. Autonomous Robots, vol. 40, n.3, pp. 425-428.
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[J8] Lyubova, N.; Ivaldi, S.; Filliat, D. (2016) From passive to interactive object learning and recognition through self-identification on a humanoid robot. Autonomous Robots, vol. 40, n. 1, pp. 33-57.
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[J7] Anzalone, S.; Boucenna, S.; Ivaldi, S.; Chetouani, M. (2015) Evaluating the engagement with social robots. International Journal of Social Robotics, vol. 7, n. 4, pp. 465-478.
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[J6] Droniou, A.; Ivaldi, S.; Sigaud, O. (2015). Deep unsupervised network for multimodal perception, representation and classification. Robotics and Autonomous Systems, vol. 71, pp. 83-98.
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[J5] Saut, J.-P.; Ivaldi, S.; Sahbani, A.; Bidaud, P. (2014). Grasping objects localized from uncertain point cloud data. Robotics and Autonomous Systems, vol. 62, n. 12, pp. 1742-1754.
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[J4] Ivaldi, S.; Anzalone, S.M.; Rousseau, W.; Sigaud, O.; Chetouani, M. (2014) Robot initiative in a team learning task increases the rhythm of interaction but not the perceived engagement. Frontiers in Neurorobotics. Vol 8, No 5, DOI 10.3389/fnbot.2014.00005.
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[J3] Ivaldi, S.; Nguyen, S.M.; Lyubova, N.; Droniou, A.; Padois, V.; Filliat, D.; Oudeyer, P.-Y.; Sigaud, O. (2014) Object learning through active exploration. IEEE Transactions on Autonomous Mental Development, vol. 6, pp. 56-72, DOI: 10.1109/TAMD.2013.2280614
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[J2] Ivaldi, S.; Sigaud, O.; Berret, B.; Nori, F. (2012). From Humans to Humanoids: the Optimal Control Framework. Paladyn Journal of Behavioral Robotics, vol. 3, n. 2, pp. 75-91.
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[J1] Fumagalli*, M.; Ivaldi*, S.; Randazzo, M.; Natale, L.; Metta, G.; Sandini, G.; Nori, F. (2012). Force feedback exploiting tactile and proximal force/torque sensing. Theory and implementation on the humanoid robot iCub. Autonomous Robots, v. 33, n. 4, pp. 381-398 (* equal contribution).
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BOOK CHAPTERS

[B5] Dermy O., Charpillet F., Ivaldi S. (2019) Multi-modal Intention Prediction with Probabilistic Movement Primitives. In: Ficuciello F., Ruggiero F., Finzi A. (eds) Human Friendly Robotics. Springer Proceedings in Advanced Robotics, vol 7. Springer. Selected from HFR 2017 (paper [C27]).
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[B4] Ugurlu, B.; Ivaldi, S. (2018). Chapter 35: Public Simulation Software. Humanoid Robotics: A Reference – Ed. Prahlad Vadakkepat, Ambarish Goswami, and Jong-Hwan Kim, publisher: Springer.
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[B3] Natale, L.; Nori, F.; Metta, G.; Fumagalli, M.; Ivaldi, S.; Pattacini, U.; Randazzo, M.; Schmitz, A.; G. Sandini, G. (2013). The iCub platform: a tool for studying intrinsically motivated learning. Intrinsically motivated learning in natural and artificial systems – Ed. Baldassarre, G.and Mirolli, M., Springer-Verlag, publisher.
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[B2] Fumagalli, M.; Gijsberts, A.; Ivaldi, S.; Jamone, L.; Metta, G.; Natale, L.; Nori, F.; Sandini, G. (2010). Learning how to exploit proximal force sensing: a comparison approach. From Motor Learning to Interaction Learning in Robots, Springer-Verlag, publisher. Pages 159-177.
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[B1] Ivaldi, S.; Baglietto, M.; Metta, G.; Zoppoli, R. (2009). An application of receding-horizon neural control in humanoid robotics. Assessment and Future Directions of Nonlinear Model Predictive Control, LNCIS 384, Springer-Verlag Berlin Heidelberg, publisher. Pages 541-550.
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INTERNATIONAL CONFERENCES

[C33] Maurice, P.; Allienne, L.; Malaise, A.; Ivaldi, S. (2018) Ethical and Social Considerations for the introduction of Human-Centered Technologies at Work. IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO).
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[C32] Maurice*, P.; Camernik*, J.; Gorjan, D.; Schirrmeister, B.; Bornmann, J.; Tagliapietra, L.; Pucci, D.; Ivaldi, S.; Babic, J. (2018) Objective and Subjective Effects of Passive Exoskeleton on Overhead Work.. 9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy, France. (Oral presentation)

[C31] Malaisé, A.; Maurice, P.; Colas F.; Ivaldi S. (2018) Online Activity Recognition for Automatic Ergonomics Assessment. 9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy, France. (Interactive presentation)

[C30] Maurice, P.; Ivaldi, S.; Fritzsche, L.; Babic, J.; Stulp, F.; Damsgaard, M.; Graimann, B.; Bellusci, G.; Pucci, D.; Nori, F. (2018) Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration: The AnDy project. 9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy, France. (Oral presentation)

[C29] Malaisé, A.; Maurice, P.; Colas, F.; Charpillet, F.; Ivaldi, S. (2018) Activity recognition with multiple wearable sensors for industrial applications. Proc. 11th Int. Conf. on Advances in Computer-Human Interactions (ACHI).
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[C28] Otani, K.; Bouyarmane, K.; Ivaldi, S. (2018) Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller. Proc. IEEE/RAS Int. Conf. Robotics and Automation (ICRA).
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[C27] Dermy, O.; Charpillet, F.; Ivaldi, S. (2017) Multi-modal intention prediction with Probabilistic Movement Primitives. Proc. 10th International Workshop on Human-Friendly Robotics (HFR 2017).
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[C26] Spitz, J.; Bouyarmane, K.; Ivaldi, S.; Mouret, J.-B. (2017) Trial-and-Error Learning of Repulsors for Humanoid QP-based Whole-Body Control. Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS).
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[C25] Modugno, V.; Nava, G.; Pucci, D.; Nori, F.; Oriolo, G.; Ivaldi, S. (2017) Safe trajectory optimization for whole-body motion of humanoids. Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS).
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[C24] Ivaldi, S.; Fritzsche, L.; Babic, J.; Stulp, F.; Damsgaard, M.; Graimann, B.; Bellusci, G.; Nori, F. (2017) Anticipatory models of human movements and dynamics: the roadmap of the AnDy project. Proc. International Conf. on Digital Human Models (DHM).
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[C23] Modugno, V.; Chervet, U.; Oriolo, G.; Ivaldi, S. (2016) Learning soft task priorities for safe control of humanoid robots with constrained stochastic optimization. Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS).
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[C22] Marichal*, S.; Malaise*, A.; Modugno, V.; Dermy, O.; Charpillet, F.; Ivaldi, S. (2016) One-shot Evaluation of the Control Interface of a Robotic Arm by Non-Experts. Proc. International Conf. on Social Robotics.
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[C21] Modugno, V.; Neumann, G.; Rueckert, E.; Oriolo, G.; Peters, J.; Ivaldi, S. (2016) Learning soft task priorities for control of redundant robots. Proc. IEEE International Conf. on Robotics and Automation (ICRA).
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[C20] Calandra, C.; Ivaldi, S.; Deisenroth, M.P.; Peters, J. (2015) Learning Torque Control in Presence of Contacts using Tactile Sensing from Robot Skin. Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS).
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[C19] Rahbar, F.; Anzalone, S.; Varni, G.; Zibetti, E.; Ivaldi, S.; Chetouani, M. (2015) Predicting extraversion from non-verbal features during a face-to-face human-robot interaction. International Conference on Social Robotics.
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[C18] Calandra, R.; Ivaldi, S.; Deisenroth, M.P.; Rueckert, E.; Peters, J. (2015). Learning Inverse Dynamics Models with Contacts, Proc. IEEE International Conference on Robotics and Automation (ICRA).
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[C17] Traversaro, S.; Del Prete, A.; Ivaldi, S.; Nori, F. (2015). Inertial Parameters Identification and Joint Torques Estimation with Proximal Force/torque Sensing, Proc. IEEE International Conference on Robotics and Automation (ICRA).
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[C16] Ivaldi, S.; Peters, J.; Padois, V.; Nori, F. (2014). Tools for simulating humanoid robot dynamics: a survey based on user feedback, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).
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Preprint: Ivaldi, S.; Padois, V.; Nori, F. (2014) Tools for dynamics simulation of robots: a survey based on user feedback. arXiv:1402.7050 [cs.RO] [ HTML | PDF ]

[C15] Droniou, A.; Ivaldi, S.; Sigaud, O. (2014). Learning a repertoire of actions with Deep Neural Networks, Proceedings of the Int. Conf. on Development and Learning (ICDL).
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[C14] Lyubova, N.; Filliat, D.; Ivaldi, S. (2013).
Improving object learning through manipulation and robot self-identification
Proc. IEEE International Conference on Robotics and Biomimetics – ROBIO. Pages 1-6.
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[C13] Stulp, F.; Raiola, G.; Hoarau, A.; Ivaldi, S.; Sigaud, O. (2013).
Learning Compact Parameterized Skills with a Single Regression.
Proc. IEEE-RAS International Conference on Humanoid Robots – HUMANOIDS. Pages 1-7.
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[C12] Nguyen, S-M.; Ivaldi, S.; Lyubova, N.; Droniou, A.; Gerardeaux-Viret, D. ; Filliat, D.; Padois, V.; Sigaud, O.; Oudeyer, P-Y. (2013). Learning to recognize objects through curiosity-driven manipulation with the iCub humanoid robot. Proc. IEEE Int. Conf. Development and Learning and on Epigenetic Robotics – ICDL-EPIROB. Pages 1-8.
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[C11] Droniou, A.; Ivaldi, S.; Stalph, P.; Butz, M.; Sigaud, O. (2012). Learning Velocity Kinematics: Experimental Comparison of On-line Regression Algorithms. Proceedings Robotica. Pages 15-20.
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[C10] Anzalone, S. M.; Ivaldi, S.; Sigaud, O.; Chetouani, M. (2012). Multimodal people engagement with iCub. Annual International Conference on Biologically Inspired Cognitive Architectures. Pages 1-3. Palermo, Italy.
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[C9] Droniou, A.; Ivaldi, S.; Padois, V.; Sigaud, O (2012). Autonomous Online Learning of Velocity Kinematics on the iCub: a Comparative Study. Proc IEEE/RSJ International Conference on Intelligent Robots and Systems – IROS. Pages 5377-5382.
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[C8] Ivaldi, S.; Lyubova, N.; Gérardeaux-Viret, D.; Droniou, A.; Anzalone, S. M.; Chetouani, M.; Filliat, D.; Sigaud, O. (2012). Perception and human interaction for developmental learning of objects and affordances. Proc. of the 12th IEEE-RAS International Conference on Humanoid Robots – HUMANOIDS. Pages 1-8.
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[C7] Berret, B.; Ivaldi, S.; Nori, F.; Sandini, G. (2011). Stochastic optimal control with variable impedance manipulators in presence of uncertainties and delayed feedback. Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems – IROS. Pages 4354-4359. San Francisco, CA, USA.
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[C6] Ivaldi, S.; Fumagalli, M.; Randazzo, M.; Nori, F.; Metta, G.; Sandini, G. (2011). Computing robot internal/external wrenches by means of inertial, tactile and F/T sensors: theory and implementation on the iCub. Proc. of the 11th IEEE-RAS International Conference on Humanoid Robots – HUMANOIDS. Pages 521-528. Bled, Slovenia.
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[C5] Sicard, G.; Salaun, C.; Ivaldi, S.; Padois, V.; Sigaud, O. (2011). Learning the velocity kinematics of iCub for model-based control: XCSF versus LWPR. Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots – HUMANOIDS. Pages 570-575. Bled, Slovenia.
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[C4] Ivaldi, S.; Fumagalli, M.; Nori, F.; Baglietto, M.; Metta, G.; Sandini, G. (2010). Approximate optimal control for reaching and trajectory planning in a humanoid robot. Proc. of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems – IROS. Pages 1290-1296. Taipei, Taiwan.
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[C3] Ivaldi, S.; Baglietto, M.; Davoli, F.; Zoppoli, R. (2009). Optimal control of communication in energy constrained sensor networks through team theory and Extended RItz Method. Proc. of the 2009 Int. Joint Conference on Neural Networks – IJCNN. Pages 1372-1379. Atlanta, GA, USA.
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[C2] Ivaldi, S.; Baglietto, M.; Zoppoli, R. (2008). Finite and Receding Horizon Regulation of a Space Robot. Proc. Int. Conf. on Mathematical Problems in Engineering, Aerospace and Sciences
– ICNPAA. Pages 608-616.
[ BIB ]

[C1] Ivaldi, S.; Baglietto, M.; Metta, G.; Zoppoli, R. (2008). An application of receding-horizon neural control in humanoid robotics. Proc. Int. Workshop on current research and future directions of Nonlinear Model Predictive Control – NMPC. Pages 1-8. Pavia, Italy.
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INTERNATIONAL WORKSHOPS

[W13] Mingo Hoffman, E.; Clement, B.; Zhou, C.;Tsagarakis, N.G.; Mouret, J.-B.; Ivaldi, S. (2018) Whole-Body Compliant Control of iCub: first results with OpenSoT.  IEEE/RAS ICRA Workshop on Dynamic Legged Locomotion in Realistic Terrains
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[W12] Malaise, A.; Nertomb, S.; Charpillet, F.; Ivaldi, S. (2016). Towards collaboration between professional caregivers and robots: a preliminary study. ICSR 2016 Workshop “Using social robots to improve the quality of life in the elderly?, Kansas City, USA.
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[W11] Anzalone, S.; Ivaldi, S.; Varni, G.; Zibetti, E.; Chetouani, M. (2015). Predicting extraversion from non-verbal features during a face-to-face human-robot interaction. AIRO 2015. 2nd Workshop on Artificial Intelligence and Robotics, Ferrara, Italy

[W10] Ivaldi, S.; Peters, J.; Chetouani, M.; Lefort, S.; Zibetti, E.; Provasi. J. (2015). Individual differences and social signals during a human-robot assembly task. Proceedings of the 8th International Workshop on Human-Friendly Robotics – HFR 2015, p. 40.
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[W9] Modugno, V.; Neumann, G.; Rueckert, E.; Oriolo, G.; Peters, J.; Ivaldi, S. (2016) Learning soft task priorities for control of redundant robots. Proceedings of the 8th International Workshop on Human-Friendly Robotics – HFR 2015, p. 39.
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[W8] Calandra, R.; Ivaldi, S.; Deisenroth, M.P.; Rueckert, E.; Peters, J. (2015) Learning Dynamics Models of Contacts from Tactile Sensors. Workshop on Force and tactile sensing, Int. Conf. on Robotics & Automation (ICRA).

[W7] Nori, F.; Peters, J.; Padois, V.; Babic, J.; Mistry, M.; Ivaldi, S. (2014). Whole-body motion in humans and humanoids. Proceedings of the Workshop on New Research Frontiers for Intelligent Autonomous Systems (NRF-IAS), pp.81-92.
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[W6] Ivaldi, S.; Anzalone, S.; Rousseau, W.; Sigaud, O.; Chetouani, M. (2014). Robot initiative increases the rhythm of interaction in a team learning task. Workshop on Timing in human-robot interaction – HRI, p. 1-4.
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[W5] Ivaldi, S.; Anzalone, S.; Rousseau, W.; Sigaud, O.; Chetouani, M. (2013). Cues for making a humanoid child more human-like during social learning tasks. Workshop on Towards social humanoid robots: what makes interaction human-like? – IROS 2013.
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[W4] Rousseau, W.; Anzalone, S.; Chetouani, M.; Sigaud, O.; Ivaldi, S. (2013). Learning object names through shared attention. Workshop on Developmental Social Robotics – IROS 2013.
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[W3] Lyubova, N.; Ivaldi, S.; Filliat, D. (2013). Developmental object learning through manipulation and human demonstration. Interactive Perception Workshop – ICRA 2013.
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[W2] Ivaldi, S.; Lyubova, N.; Gérardeaux-Viret, D.; Droniou, A.; Anzalone, S. M.; Chetouani, M.; Filliat, D.; Sigaud, O. (2012). A cognitive architecture for developmental learning of objects and affordances: perception and human interaction aspects. IEEE Ro-man Workshop on Developmental; bio-inspired approaches for social cognitive robotics. Paris, France.
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[W1] Ivaldi, S.; Baglietto, M.; Metta, G.; Zoppoli, R.; Sandini, G. (2008). A finite and receding horizon neural controller in humanoid robotics. IEEE/RAS Int. Conference on Intelligent Robots; systems – IROS – Workshop: Robotics challenges for machine learning II. Pages 1. Nice, France.
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PHD THESIS

[T1] Ivaldi, S. (2011). From humans to humanoids: a study on optimal motor control for the iCub.
PhD Thesis. Italian Institute of Technology & University of Genoa, Italy.
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NATIONAL CONFERENCES

[N12] Spitz, J.; Bouyarmane, K.; Ivaldi, S.; Mouret, J.-B. (2018) Trial-and-Error learning of mismatch for Humanoid QP-based whole-body control. Journées Nationales de la Robotique Humanoide, Nancy.

[N11] Penco, L.; Clement, B.; Mouret, J.-B.; Ivaldi, S. (2018) Whole-body Teleoperation of the iCub robot with Multi-task Controllers. Journées Nationales de la Robotique Humanoide, Nancy.

[N10] Charbonneau, M.; Ivaldi, S.; Mouret, J.-B.; Nori, F.; Pucci, D. (2018) QP Parameter tuning as a challenge in the development of optimization-based whole-body torque-controllers. Journées Nationales de la Robotique Humanoide, Nancy.

[N9] Dermy, O.; Charpillet, F.; Ivaldi, S. (2018) Prediction of Intention: from gesture to whole-Body movement. Journées Nationales de la Robotique Humanoide, Nancy.

[N8] Maurice*, P.; Camernik*, J.; Gorjan, D.; Schirrmeister, B.; Bornmann, J.; Tagliapietra, L.; Pucci, D.; Ivaldi, S.; Babic, J. (2018) Objective and Subjective Effects of Passive Exoskeleton on Overhead Work. Journées Nationales de la Robotique Humanoide, Nancy.

[N7] Malaisé, A.; Maurice, P.; Colas F.; Ivaldi S. (2018) Online Human Activity Recognition for Ergonomics Assessment. Journées Nationales de la Robotique Humanoide, Nancy.

[N6] Anzalone, S., Varni, G., Ivaldi, S., Zibetti, E., Chetouani, M. (2015). Automated prediction of extraversion during human-robot interaction. AIxIA 2015. 14th Conference of the Italian Association for Artificial Intelligence, Ferrara 23-25 September 2015.

[N5] S. Ivaldi, S. Lefort, S. Anzalone, I. Gaudiello, J. Provasi, M. Chetouani, E. Zibetti (2014) Effect of extroversion and negative attitude toward robots on social signals during human-robot interaction. Journees Nationales de la Robotique Interactive, Toulouse.

[N4] Droniou, A.; Ivaldi, S.; Sigaud, O. (2012). Comparaison experimentale d’algorithmes de regression pour l’apprentissage de modeles cinematiques du robot humanoide iCub. Conference Francophone sur l’Apprentissage Automatique (Cap). Pages 95-110.

[N3] Ivaldi, S.; Baglietto, M.; Davoli, F.; Zoppoli, R. (2009) Extended Ritz Method for optimal control of communication in energy constrained mixed (analog/digital) transmissions. In: Annual Conf. of the Italian Society of Researchers in Automatic Controls (SIDRA).

[N2] Ivaldi, S.; Baglietto, M.; Metta, G.; Zoppoli, R. (2008) An application of receding horizon neural control in humanoid robotics. In: Annual Conference of the Italian Society of Researchers in Automatic Controls (SIDRA).

[N1] Droniou, A.; Ivaldi, S.; Sigaud, O. (2012). Comparaison expérimentale d’algorithmes de régression pour l’apprentissage de modèles cinématiques du robot humanoïde iCub. Conférence Francophone sur l’Apprentissage Automatique (Cap). Pages 95-110.
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OTHER PUBLICATIONS & TECHNICAL REPORTS

[O2] Ivaldi, S.; Sciutti, A. (2009). Aquabot. Affordable robots idea context of the 2009 Int. Conf. on Advanced Robotics – ICAR .Third rank in Project Competition. Munich, Germany.
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[O1] Stalph, P.; Ivaldi, S. (2011). Installing the iCub simulator on Ubuntu. COBOSLAB, Psychologie III Universitat Wurzburg.
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