Publications by Aude Billard | EPFL Graph Search

IEEE Robotics and Automation Society Launches a Science and Technology Watch Board [President’s Message]

Aude Billard

Institute of Electrical and Electronics Engineers (IEEE)2025

Corrections to “Learning the Inverse Hitting Problem”

Aude Billard, Harshit Khurana

Institute of Electrical and Electronics Engineers (IEEE)2025

RAS Publication Review Process Goes Double Anonymous

Aude Billard

2025

Passive Obstacle-Aware Control to Follow Desired Velocities

Aude Billard, Lukas Huber

Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains complia ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2025

A Roadmap for Ai in Robotics

Aude Billard

There is growing excitement about the potential of leveraging artificial intelligence (AI) to tackle some of the outstanding barriers to the full deployment of robots in daily lives. However, action and sensing in the physical world pose greater and differ ...

NATURE PORTFOLIO2025

Quantitative Outcome-Oriented Assessment of Microsurgical Anastomosis

Aude Billard, Soheil Gholami

Microsurgical anastomosis demands exceptional dexterity and visuospatial skills, underscoring the importance of comprehensive training and precise outcome assessment. Currently, methods such as the outcome-oriented anastomosis lapse index are used to evalu ...

2025

“Data will solve robotics and automation: True or false?”: A debate

Aude Billard

Leading researchers debate the long-term influence of model-free methods that use large sets of demonstration data to train numerical generative models to control robots. ...

American Association for the Advancement of Science (AAAS)2025

Designing and using robots for environmental sustainability

Aude Billard

If you were to ask a random passerby to describe what a robot is made of and how it is powered, they would likely tell you that a robot is made of metal and requires electricity to operate. Experts, however, would likely say that robotic control systems co ...

American Association for the Advancement of Science (AAAS)2025

Robots that share our spaces require proprioception and a sense of touch

Aude Billard

Imagine stepping away from your desk and reaching out for your office's light switch with your eyes closed. You might manage to complete the task successfully but might instead hit the corner of your desk or knock over the coffee mug your colleague just le ...

2025

Tube Acceleration: Robust Dexterous Throwing Against Release Uncertainty

Aude Billard

In robotic throwing, the release phase involves complex dynamic interactions due to object deformation and limited gripper opening speed, often resulting in inaccurate and nonrepeatable throws. While data-driven methods can be employed to compensate for th ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Action Contextualization: Adaptive Task Planning and Action Tuning Using Large Language Models

Aude Billard, Kunpeng Yao, Sthithpragya Gupta

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error correction. This work ai ...

2024

Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots

Aude Billard

Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots' resilience to perturbations during tasks that involve static obstacle avoidance, we propose incorporating b ...

IEEE2024

Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multifingered In-Hand Manipulation

Aude Billard, Kunpeng Yao, Farshad Khadivar, Xiao Gao

Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must ...

2024

Dynamical system approach to navigation around obstacles

Aude Billard, Aradhana Nayak

In this article, we propose a dynamical system to avoid obstacles which are star shaped and simultaneously converge to a goal. The convergence is almost-global in a domain and the stationary points are identified explicitly. Our approach is based on the id ...

2024

Device for exercising cervical spine

Aude Billard, Miao Li, Kunpeng Yao

It is disclosed a wearable device (1) for exercising cervical spine, in particular for rehabilitation exercises for cervical spine disorders. The wearable device (1) includes -a structure (2) comprising a support (3) suitable to be worn on shoulders of a u ...

2024

An objective skill assessment framework for microsurgical anastomosis based on ALI scores

Aude Billard, Anaëlle Olivia Marie Manon, Kunpeng Yao, Soheil Gholami, Torstein Ragnar Meling

IntroductionThe current assessment and standardization of microsurgical skills are subjective, posing challenges in reliable skill evaluation. We aim to address these limitations by developing a quantitative and objective framework for accurately assessing ...

Springer Wien2024

Transferring Shotcrete Skills to Robots

Aude Billard, Rui Wu, Soheil Gholami

Traditionally performed by skilled nozzle opera-tors, shotcrete remains a painful and risky task, where recurrent physical discomfort leads to severe and long-term health issues. When performed by novices or ill-trained workers, it can lead to waste. The s ...

IEEE Computer Society2024

Transfer learning in robotics: An upcoming breakthrough? A review of promises and challenges

Aude Billard, Kunpeng Yao, Bernardo Fichera

Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept—reusing prior knowledge to learn in and from novel situations—is successfully leveraged by humans to handle novel situations. In recent ...

2024

A Predictive Model for Tactile Force Estimation Using Audio-Tactile Data

Aude Billard, Ahalya Prabhakar

Robust in-hand manipulation of objects with movable content requires estimation and prediction of the contents' motion with enough anticipation to allow time to compensate for resulting internal torques. The quick estimation of the objects' dynamics can be ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Aude Billard, Lukas Huber

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

Ieee-Inst Electrical Electronics Engineers Inc2024