David Blanco-Mulero


David Blanco-Mulero | Postdoc @IRI,CSIC-UPC

Hi there! I’m David Blanco Mulero, currently a Post-doc at Institut de Robòtica i Informàtica Industrial (IRI, CSIC-UPC).

I received my Ph.D. in Robotics from Aalto University, advised by Prof. Ville Kyrki head of the Intelligent Robotics group.

My research focuses on learning and representation for manipulation, with a special focus on manipulation of deformable objects.


30.05.2024 - Our work Dynamic Manipulation of Deformable Objects using Imitation Learning with Adaptation to Hardware Constraints was accepted to IROS 2024! Check the website for more info!

19.04.2024 - I succesfully defended my Ph.D. Thesis! Big thanks to the opponent: Prof. Yiannis Demiris, to my supervisor Prof. Ville Kyrki and my advisor Prof. Gokhan Alcan.

31.01.2024 - Our work “Benchmarking the Sim-to-Real Gap in Cloth Manipulation” was accepted for publication at IEEE RA-L. This work presents a benchmark dataset for cloth manipulation, and evaluates the reality gap in MuJoCo, Bullet, Flex and SOFA using the proposed benchmark. Check the project website for more information.

08.01.2024 - Really exciting news! I just started a Research position at Institut de Robòtica i Informàtica Industrial (IRI, CSIC-UPC).

20.10.2023 - I was granted the Nokia PhD Scholarship grant (5000 Euros), to encourage the research of my PhD thesis.

Selected Publications

  1. Blanco-Mulero, D., Barbany, O., Alcan, G., Colomé, A., Torras, C., & Kyrki, V. (2024). Benchmarking the Sim-to-Real Gap in Cloth Manipulation. IEEE Robotics and Automation Letters, 9(3), 2981–2988. https://doi.org/10.1109/LRA.2024.3360814
  2. Bettahar, H., Blanco-Mulero, D., Kyrki, V., Linder, M. B., & Zhou, Q. (2024). Rapid Improvement of Fiber Tensile Properties via In Situ Biomimetic Robotic Pulling and Bayesian Optimization. Advanced Intelligent Systems, 6(4), 2300610. https://doi.org/https://doi.org/10.1002/aisy.202300610
  1. Blanco-Mulero, D., Alcan, G., Abu-Dakka, F. J., & Kyrki, V. (2023). QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 984–991. https://doi.org/10.1109/IROS55552.2023.10342002
  2. Rajani, C., Arndt, K., Blanco-Mulero, D., Luck, K. S., & Kyrki, V. (2023). Co-imitation: Learning Design and Behaviour by Imitation. Proceedings of the AAAI Conference on Artificial Intelligence, 37(5), 6200–6208. https://doi.org/10.1609/aaai.v37i5.25764
  1. Tuomainen*, N., Blanco-Mulero*, D., & Kyrki, V. (2022). Manipulation of Granular Materials by Learning Particle Interactions. IEEE Robotics and Automation Letters, 7(2), 5663–5670. https://doi.org/10.1109/LRA.2022.3158382
  1. Hietala, J., Blanco-Mulero, D., Alcan, G., & Kyrki, V. (2022). Learning Visual Feedback Control for Dynamic Cloth Folding. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).