FinE-R 2015

The Path to Success: Failures in rEal Robots

IROS 2015 Workshops

FinE-R 2015 Logo

Call for Papers

Extended deadline

Due to several requests for extending the deadline, the organizing committee has the pleasure to announce that the deadline has been extended until Monday 13 of July at midnight PST.

Main goals of the workshop

Along the history there are many important discoveries that resulted from long trials and error processes (e.g. the electric light bulb from Edison) or from analyzing 'failed' results (e.g. the Michelson-Morley experiment). In each case, the key contributor for the final success was the willingness to learn from previous mistakes and to share the gained experience with the research community.

The path to progress in the field of robotics is not free of failures and caveats. These failures provide valuable lessons and insights on future approaches by analyzing errors and finding methods to avoid them. As such, the robotics community could benefit from the experience of those who had faced and overcome similar failures before.

The objective of this workshop is to provide a forum for researchers to share their personal experiences on their "failure to success" stories, to present what they have learnt, what others should avoid while experimenting in similar context, providing tips for better research practices and for creating more successful robots that meet people's expectations.

In addition, well known speakers in robotics will be invited to the workshop to share their experiences, how they avoid failures, and their recommendations for creating more robust and successful robots. Finally, the panel session will provide the right environment for attendees to learn and discuss good practices in the robotics area to avoid failing to satisfy people's expectations around robots.

Topics of interest (but not limited to)

  • Analysis of failures when participating in robotic challenges
  • Design of robust human-computer interfaces for robots
  • When failure is not an option: creating an outstanding robot from HW to SW
  • The search for errors: benchmarking and tools for testing robots
  • Avoiding common but frequently seen errors when deploying robots for industrial or general public environments
  • Advanced techniques for failure recovery and troubleshooting
  • Matching the expectations and needs of industries and consumers with the current technology
  • Alternatives to techniques and algorithms that are prone to fail
  • The keys for successful research projects and proposals on robotics
  • Analysis of failed results and projects when using smart algorithms, well-established techniques or brilliant designs

Submission and Authors Information

All papers must be written in English and submitted electronically in PDF format that has to conform to the manuscript preparation guidelines. Papers submitted to FinE-R 2015 undergo a single-blind peer-review process. The paper extension should be no less than 4 pages and not more than 8 pages, excluding references. The organizing committee is managing to publish selected best papers in a well-known journal (more information to be give later).

The papers should be submitted via EasyChair. To write the paper, please use the following templates: LaTeX or MS Word


For registering to this workshop, please do it throught IROS Website

  • EXTENDED: 13 July 2015
    Submissions deadline
  • 13 Aug 2015
    Notification of acceptance
  • 31 Aug 2015
    Camera Ready Submission Deadline
  • 25 Aug 2015
    Early Registration Deadline
  • 02 Oct 2015

Agenda - FrWS-03 Workshop

Morning Activities2 October 2015
08:45 — 9:00

Opening Ceremony

Saal 14
09:00 — 10:00

Keynote 1: Lessons Learned in Human Movements and Behavior Analysis
Ryad Chellali (Nanjing Robotics Institute- CEECS, Nanjing Tech University, Nanjing, China)

Saal 14
10:00 — 10:30

Coffee Break

10:30 — 10:50

"Intelligence Level Performance Standards Research for Autonomous Vehicles"
Roger Bostelman, Tsai Hong, and Elena Messina.

Saal 14
10:50 — 11:10

"Lessons from the Design and Testing of a Novel Spring Powered Passive Robot Joint"
Joel Stephen Short, Aun Neow Poo, Chow Yin Lai, Pey Yuen Tao, and Marcelo H Ang Jr.

Saal 14
11:10 — 11:30

"Improvements and considerations related to human-robot interaction in the design of a new version of the robotic head Muecas"
Felipe Cid Burgos, Pedro Núñez Trujillo and Luis J. Manso.

Saal 14
11:30 — 11:50

"Adapting Low-Cost Platforms for Robotics Research"
Thommen Karimpanal George, Mohammadreza Chamanbaz, Abhishek Gupta, Wen Lizheng, Timothy Jeruzalski, and Erik Wilhelm.

Saal 14
11:50 — 12:10

"Using Autonomous Robots to Diagnose Wireless Connectivity"
Richard Wang, Manuela Veloso, and Srinivasan Seshan

Saal 14
12:10 — 14:10

It's a lunch time. Get some rest

Afternoon Activities2 October 2015
14:10 — 15:10

Keynote 2: The communication accommodation of the machine to deal with errors in Human-Robot Spoken Interaction
Laurence Devillers (Paris-Sorbonne University, LIMSI-CNRS, France)

Saal 14
15:10 — 15:30

"Toward Soft, Robust Robots for Children with Autism Spectrum Disorder"
Hong Tuan Teo, and John-John Cabibihan.

Saal 14
15:30 — 16:00

Coffee Break

16:00 — 16:20

"Gualzru's path to the Advertisement World"
Fernando Fernández, Moisés Martínez, Ismael García-Varea, Jesús Martínez-Gómez, Jose Pérez-Lorenzo, Raquel Viciana, Pablo Bustos, Luis Manso, Luis Calderita, Marco Gutiérrez, Pedro Núñez, Antonio Bandera, Adrián Romero-Garcés, Juan Bandera and Rebeca Marfil.

Saal 14
16:20 — 16:40

"Design, Simulation and Implementation of a 3-PUU Parallel Mechanism for a Macro/mini Manipulator"
Zheng Ma, Aun-Neow Poo, Marcelo Ang, Geok-Soon Hong and Feng Huo.

Saal 14
16:40 — 17:00

"Skill-based Exception Handling and Error Recovery for Collaborative Industrial Robots"
Anders Billesø Beck, Anders Due Schwartz, Andreas R. Fugl, Martin Naumann, and Björn Kahl.

Saal 14
17:00 — 17:10

Closing Ceremony

Saal 14

Invited keynote speakers

  • Ryad Chellali
    Ryad Chellali

    Nanjing Robotics Institute- CEECS
    Nanjing Tech University, Nanjing, China

    rchellali @

Lessons Learned in Human Movements and Behavior Analysis

Human Robots Interactions (HRI) is a hybrid filed mixing many domains including engineering, physics, social sciences, neurosciences, etc. Accordingly, research in HRI combines exact models and experimental approaches towards developing interaction frameworks and friendly robots. The inherent heterogeneity leads in many cases to ill-posed problems with oversimplification on one side (the engineering side) and forced (thus inexact) models on the other side. Indeed and for the "R" part in HRI, measurements and procedures are known to be exact and objective. Models in these fields are enough known allowing quantitative accurate observations that can be measured repeatedly supporting the original models. In psychology and social sciences the situation is different: the object of studies, namely humans, is much less known. Scientists in these areas are lacking in terms of accurate models compared physicists and engineers. Indeed, humans can be seen as high dimension multivariate systems, with complex dynamics, preventing from having complete explanatory models. This leads to qualitative approaches, where only isolated aspects (and most of the time related indirectly to the object of investigations) are considered. This situation is even worst when experiments are performed in real life conditions. Indeed, to obtain realistic observations, experiments in real world are needed; unfortunately, the control of experimental conditions is almost impossible out of laboratories, leading to higher difficulty and complexity in analysis and understanding.

Through our previous works, we found out that one should consider carefully modeling human behavior. In analyzing human gestures for instance, our system used to work well in lab conditions but failed completely in real situations. We imposed a model that cannot handle the variability both intra-personal and inter-personal. Likewise, in studying relationships between body movements and human physiology, we found out a new phenomenon that was not considered in our original model. Our conclusion (which is obvious a posteriori) is that model driven approaches are useless in human behavior analysis. Instead, data driven techniques (unsupervised, latent modeling, etc.) seem to be more effective. Indeed, in both previous cases we achieved better results by removing modeling constraints and by using statistical tools extracting weakly hypothesized regularity.

Short Bio

Ryad Chellali is a distinguished professor at Nanjing Tech University, Nanjing China since 2015. From 2005 to 2015, he was senior research scientist at the Italian Institute of Technology. He created and leaded the Human Robots Mediated Interactions Group (2006-2011) and then joined the Department of Pattern Analysis and Computer Vision (PAVIS, 2011-2015). From 1995 to 2006, he was with Ecole des Mines de Nantes/CNRS (France), heading the automatic control chair. From 1993 to 1995 he was assistant professor at University of Paris. He served as Junior Researcher in 1992 at the French Institute of Transports (INRETS). He obtained his Ph.D. in Robotics from University of Paris in 1993 and his Dr. Sc from University of Nantes (France) in 2005. His main research interests include robotics, human-robot interactions, human behavior analysis (social signal processing and affective computing). Telepresence, virtual and augmented realities are also keywords of his activity.

Ryad Chellali co-authored more than 100 papers. In 2000 and 2005 the French Government awarded him for the creation of innovative technologies companies.

  • Laurence DeVillers
    Laurence DeVillers

    LIMSI-CNRS, Sorbonne University, France

    laurence.devillers @

The communication accommodation of the machine to deal with errors in Human-Robot Spoken Interaction

Talk during social interactions naturally involves the exchange of propositional content but also and perhaps more importantly the expression of interpersonal relationships, as well as displays of emotion, affect, interest, etc. Such social interaction requires that the robot has the ability to detect, interpret the social language and represent some complex human social behavior. Cognitive decisions will be used for reasoning on the strategy of the dialog and deciding social behaviors (humor, compassion, white lies, etc.) taking into account the user profile and contextual information. The research challenges also include the evaluation of such systems and the various metrics that could be used like the measure of social engagement with the user. Engagement in dialog with a machine is not only linked to the error rates. We argue that the communication accommodation theory is a promising paradigm to globally consider the errors in the convergence or divergence dimensions.

Short Bio

L. Devillers is a Professor of Affective Computing at Paris-Sorbonne University and she leads a team of research on "Affective and Social Dimensions of Spoken Interactions" at the CNRS. Her current research addresses the problem of sensing and understanding human non-verbal interactive language and intentions. Her background is on machine learning, speech recognition, spoken dialog system and evaluation. She participates in BPI ROMEO2 project, which has the main goal of building a social humanoid robot for elderly people. She leads the European CHIST-ERA project JOKER: JOKe and Empathy of a Robot. She is member of the working group on the ethics of the research in robotics (CERNA). She is also heading the "Human-machine coevolution" research group at the Numerical Society Institute (France). She has (co-) authored more than 140 publications. She is a member of AAAC (board), IEEE, ACL, ISCA, WACAI and AFCP. She is also involved in the Eurobotics Topic Groups: "Natural Interaction with Social Robots" and "Socially intelligent robots". (Video-demo).

Short institution presentation

The Computer Sciences Laboratory for Mechanics and Engineering Sciences (LIMSI) is one of France's largest research laboratories of the CNRS working on language technologies. The team on "Affective and Social Dimensions of Spoken Interactions" (Head: L. Devillers) is working on affective computing and robotics applications (Click here for more information)



  • Luis Fernando D'Haro
    Luis Fernando D'Haro

    SERC Robotics Program, A*STAR
    Institute for Infocomm Research, Singapore

  • Andreea Ioana Niculescu
    Andreea Ioana Niculescu

    SERC Robotics Program, A*STAR
    Institute for Infocomm Research, Singapore

  • Aravindkumar Vijayalingam
    Aravindkumar Vijayalingam
    Technical Program

    TUM CREATE, Singapore

Advisory Committee

  • Rafael E. Banchs
    I2R-HLT, Singapore
  • Suraj Nair
    Technische Universität München, Germany
  • Marco Antonio Gutierrez
    Universidad de Extremadura, Spain

Program Committee

Pogram Committee (in alphabetical order):

  • Aamir Ahmad, Max Planck Institute for Biological Cybernetics, Tübingen, Germany
  • Marcelo Ang, National University of Singapore, Singapore
  • Rafael E. Banchs, Human Language Technologies - A*STAR, Singapore
  • Antonio Bandera, University of Malaga, Spain
  • Pablo Bustos, Universidad de Extremadura, Spain
  • John-John Cabibihan, Qatar University, Qatar
  • Raffaella Carloni, University of Twente, Netherlands
  • Chih-Hong Cheng, ABB, Germany
  • Luis Fernando D'Haro, SERC Robotics Program - A*STAR, Singapore
  • Gamini Dissanayake, University of Technology, Sydney (Australia)
  • Ismael García-Varea, University of Castilla-La Mancha, Spain
  • Marco Antonio Gutierrez Giraldo, Robolab, Universidad de extremadura, Spain
  • Martin Hägele, Head of Department Robotics and Assistive Systems, Fraunhofer IPA, Germany
  • Haizhou Li, Human Language Technologies - A*STAR, Singapore
  • Dilip Kumar Limbu, Institute for Infocomm Research, Singapore
  • Luis J. Manso, University of Extremadura, Spain
  • Jose Moreno, University of Extremadura, Spain
  • Omar Mubin, University of Western Sydney, HCI & Robotics
  • Suraj Nair, TUM, Germany
  • Andreea Ioana Niculescu, SERC Robotics Program - A*STAR, Singapore
  • Pedro Nuñez, University of Extremadura, Spain
  • Helmuth Radrich, KUKA, Augsburg, Germany
  • Eloy Retamino, TUM CREATE, Singapore
  • Markus Rickert, Fortiss, Germany
  • Sean Sabastian, SIMTech - A*STAR, Singapore
  • Eduardo B. Sandoval, University of Canterbuy HIT Lab NZ
  • Allison Sauppé, University of Wisconsin-La Crosse, USA
  • Yeow Kee Tan, Institute for Infocomm Research, Singapore
  • Keng Peng Tee, Institute for Infocomm Research, Singapore
  • Aravindkumar Vijayalingam, TUM CREATE, Singapore
  • Erik Wilhelm, Singapore University of Technology and Design, Singapore
  • Martin Wojtczyk, Baylabs, California (USA)
  • Thilo Zimmermann, GPS Stuttgart, Germany

Supporting Organizations

Tum-Create, Singapore I2R-A*STAR, Singapore Technical University of Munich Robolab IROS 2015