2020
Journal papers
Ravichandar, H., Polydoros S. A., Chernova S. and Billard A., Recent Advances in Robot Learning from Demonstration, Annual Review of Control, Robotics, and Autonomous Systems, 2020 [paper]
2019
Journal papers
T. Asfour, M. Waechter, L. Kaul, S. Rader, P. Weiner, S. Ottenhaus, R. Grimm, Y. Zhou, M. Grotz and F. Paus, ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real World Scenarios, IEEE Robotics & Automation Magazine, October 2019 [paper]
Dreher, C. R. G., Wächter, M. and Asfour, T., Learning Object-Action Relations from Bimanual Human Demonstration Using Graph Networks, IEEE Robotics and Automation Letters (RA-L), 2019 [paper]
Sanzari M, Ntouskos V, Pirri F, Discovery and recognition of motion primitives in human activities. PLoS ONE 14(4): e0214499, April 2019, [paper]
Camil Demetrescu, Francesco Lupia, Angelo Mendicelli, Andrea Ribichini, Francesco Scarcello, Marco Schaerf, On the Shapley value and its application to the Italian VQR research assessment exercise, Journal of Infometrics, Vol. 13, Issue 1, pp. 87-104, Feb. 2019, [paper]
Mahdi Khoramshahi, Aude Billard, A Dynamical System Approach to Task-Adaptation in Physical Human-Robot Interaction, Autonomous Robots, (to appear)
Conference papers
J. Gao, Y. Zhou and T. Asfour. Learning Compliance Adaptation in Contact-Rich Manipulation, IEEE International Conference on Robotics and Automation (ICRA) (submitted)
Ottenhaus S., Renninghoff D., Grimm R., Ferreira F. and Asfour T. Visuo-Haptic Grasping of Unknown Objects based on Gaussian Process Implicit Surfaces and Deep Learning, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 426-432, October, 2019. [paper]
Pirri F, Alati E, Mauro L, Ntouskos V; Help by predicting what to do. IEEE International Conference on Image Processing, September 2019 [paper]
Pirri F, Alati E, Mauro L, Ntouskos V; Anticipating next goal for robot plan prediction. Intelligent Systems Conference (IntelliSys), August 2019 [paper]
M. Khoramshahi, A. Laurens, T. Triquet and A. Billard, From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018, pp. 1361-1366, [paper]
Baptiste Busch, Giuseppe Cotugno, Mahdi Khoramshahi, Grigorios Skaltsas, Dario Turchi, Leonardo Urbano, Mirko Wachter, You Zhou, Tamim Asfour, Graham Deacon, Duncan Russell, and Aude Billard, Evaluation of an Industrial Robotic Assistant in an Ecological Environment, in proceedings of RoMan2019 (submitted)
Stefan Constantin, Jan Niehues, and Alex Waibel, Multi-task learning to improve natural language understanding, Proceedings of the Tenth International Workshop on Spoken Dialogue Systems (IWSDS), April 2019, [paper]
Shingarey, D., Kaul, L. and Asfour, T., Torque-Based Velocity Control for Safe Human-Humanoid Interaction, 2019 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), 2019 [paper]
Conference papers
Khoramshahi, M., Zhou, Y., Gao, J., Wachter, M, Asfour, T. and Billard, A., Reactive Motion Planning for Human-Robot Cooperative Tasks Under Uncertainties. RSS Workshop on Robust Task and Motion Planning, June 2019, [paper]
2018
Journal papers
Apurv Nigam, Adrian Penate-Sanchez, and Lourdes Agapito. Detect globally, label locally: Learning accurate 6-dof object pose estimation by joint segmentation and coordinate regression, IEEE Robotics and Automation Letters (RA-L), pp. 3960 – 3967, Oct 2018, [paper]
A. Knobloch, N. Vahrenkamp, M. Wächter and T. Asfour, Distance-Aware Dynamically Weighted Roadmaps for Motion Planning in Unknown Environments, IEEE Robotics and Automation Letters (RA-L), vol. 3, no. 3, pp. 2016 – 2023, July 2018, [paper]
Mahdi Khoramshahi and Aude Billard. A dynamical system approach to task-adaptation in physical human-robot interaction. Autonomous Robots, May 2018, [paper]
S. Ottenhaus, L. Kaul, N. Vahrenkamp and T. Asfour, Active Tactile Exploration Based on Cost-Aware Information Gain Maximization, International Journal of Humanoid Robotics, vol. 15, no. 1, pp. 1 – 21, February 2018, [paper]
Nikolaus Vahrenkamp, Eduard Koch, Mirko Wächter, and Tamim Asfour. Planning high-quality grasps using mean curvature object skeletons. IEEE Robotics and Automation Letters (RA-L), January 2018, [paper]
Conference papers
G. Cotugno, D. Turchi, D. Russell, G. Deacon, SecondHands: A collaborative maintenance robot for automated warehouses. Implications for the industry and the workforce, Inclusive Robotics for a better Society Conference, October 2018, [paper]
Ntouskos V, Sanzari M, Alati E, Freda L, Pirri F (2018). Visual Search and Recognition for Robot Task Execution and Monitoring. Applications of Intelligent Systems (Vol. 310, p. 94). IOS Press, [paper]
Mauro L, Alati E, Sanzari M, Ntouskos V, Massimiani G, Pirri F (2018) Deep execution monitor for robot assistive tasks. European Conference on Computer Vision (ECCV) Workshops, [paper]
Karrenbauer, O., Rader, S. and Asfour, T., An Ontology-Based Expert System to Support the Design of Humanoid Robot Components, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 532-539, 2018, [paper]
Weiner, P., Neef, C. and Asfour, T., A Multimodal Embedded Sensor System for Scalable Robotic and Prosthetic Fingers, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 286-292, November, 2018, [paper]
Jianfeng Gao and You Zhou and Tamim Asfour, Projected Force-Admittance Control for Compliant Bimanual Tasks, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 607 – 613, 2018, [paper]
T. Asfour and L. Kaul and M. Wächter and S. Ottenhaus and P. Weiner and S. Rader and R. Grimm and Y. Zhou and M. Grotz and F. Paus and D. Shingarey and H. Haubert, ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 447 – 454, 2018, [paper]
Apurv Nigam, Adrian Penate-Sanchez, and Lourdes Agapito. Detect globally, label locally: Learning accurate 6-dof object pose estimation by joint segmentation and coordinate regression, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2018
Sanzari, M. and Ntouskos, V. and Grazioso, S. and Puja, F. and Pirri, F., Human motion primitive discovery and recognition, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2018
M. Rünz, L. Agapito, MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects, International Symposium on Mixed an Augmented Reality (ISMAR), October 2018, [paper]
S. Ottenhaus, P. Weiner, L. Kaul, A. Tulbure, T. Asfour, Exploration and Reconstruction of Unknown Objects using a Novel Normal and Contact Sensor, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1614 – 1620, October 2018, [paper]
Mahdi Khoramshahi, Antoine Laurens, Thomas Triquet, and Aude Billard. From human interaction to online motion adaptation using parameterized dynamical systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2018, [paper]
M Firman, NDF Campbell, L Agapito, GJ Brostow , DiverseNet: When One Right Answer is not Enough, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2018, [paper]
Stefan Constantin, Jan Niehues, and Alex Waibel, An end-to-end goal-oriented dialog system with a generative natural language response generation, Proceedings of the 9th International Workshop on Spoken Dialog Systems Technology (IWSDS), May 2018 [paper]
Stüker, Sebastian, Constantin, Stefan, Niehues, Jan, Nguyen, Thai-Son, Müller, Markus, Pham, Ngoc Quan, Rüde, Robin, and Waibel, Alex, Speech interaction strategies for a humanoid assistant, MATEC Web Conf. 161, April 2018, [paper]
P. Schmidt, N. Vahrenkamp, M. Wächter and T. Asfour, Grasping of Unknown Objects using Deep Convolutional Neural Networks based on Depth Images, IEEE International Conference on Robotics and Automation (ICRA), pp. 6831 – 6838, May, 2018, [paper]
Demetrescu, C., Ribichini, A. & Schaerf, M.; Accuracy of author names in bibliographic data sources: an Italian case study, Scientometrics (2018) 117: 1777, [paper]
PhD Theses
Rui Yu, Learning Dense 3D Models from Monocular Video, University College London, July 2018 [thesis]
2017
Journal paper
A. L. P. Ureche and A. Billard. Constraints extraction from asymmetrical bimanual tasks and their use in coordinated behavior. Robotics and Autonomous Systems, December 2017
L Porzi, SR Buló, A Penate-Sanchez, E Ricci, F Moreno-Noguer, Learning depth-aware deep representations for robotic perception, IEEE Robotics and Automation Letters 2 (2), 468-475, April 2017
[paper]
[paper]
Conference paper
Paus, F., Kaiser, P., Vahrenkamp, N. and Asfour, T., A Combined Approach for Robot Placement and Coverage Path Planning for Mobile Manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6285-6292, September, 2017
Zhu, Q., Perera, V., Wächter, M., Asfour, T. and Veloso, M., Autonomous Narration of Humanoid Robot Kitchen Task Experience, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 390-397, 2017
José Medina and Aude Billard, Learning Stable Task Sequences from Demonstration with Linear Parameter Varying Systems and Hidden Markov Models. In Conference on Robot Learning (CoRL) , Mountain View, U.S.A., November 2017
Lorenzo Porzi, Adrián Peñate-Sánchez, Elisa Ricci and Francesc Moreno-Noguer, Depth-Aware Convolutional Neural Networks for Accurate 3D Pose Estimation in RGB-D Images, IEEE Intelligent Robots and Systems (IROS), September 2017
Robin Ruede, Markus Müller, Sebastian Stüker, and Alex Waibel, Enhancing Backchannel Prediction Using Word Embeddings, In Proceedings of INTERSPEECH, Stockholm, Sweden, August 2017
D. Tome, C. Russell, L. Agapito, Lifting from the Deep: Convolutional 3D Pose Estimation from a Single Image, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Honolulu, Hawaii, July 2017
[ CVPR2017-Tome ]
Workshop paper
Robin Ruede, Markus Müller, Sebastian Stüker, and Alex Waibel, Yeah, Right, Uh-Huh: A Deep Learning Backchannel Predictor, In Proceedings of the Eight International Workshop on Spoken Dialogue System (IWSDS 2017), Pittsburgh PA, U.S.A., June 2017
2016
Journal paper
Mirko Wächter, Simon Ottenhaus, Manfred Kröhnert, Nikolaus Vahrenkamp, and Tamim Asfour
The ArmarX Statechart Concept: Graphical Programming of Robot Behaviour.
In Frontiers in Robotics and AI, 3:33, 2016.
[paper]
J Carreira, S Vicente, L Agapito, J Batista, Lifting object detection datasets into 3D, IEEE transactions on pattern analysis and machine intelligence 38 (7), 1342-1355 8 2016
[paper]
Conference paper
Jan Niehues, Thai Son Nguyen, Eunah Cho, Thanh-Le Ha, Kevin Kilgour, Markus Müller, Matthias Sperber, Sebastian Stüker, and Alex Waibel.
Dynamic transcription for low-latency speech translation.
In The Proceedings of INTERSPEECH, San Fransisco, U.S.A., 2016.
[ Interspeech2016 ] [ bib | pdf ]
M. Kröhnert, R. Grimm, N. Vahrenkamp, and T. Asfour
Resource-aware motion planning.
In IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016.
[paper]
Fabrizio Natola, Valsamis Ntouskos, Fiora Pirri, and Marta Sanzari
Single image object modeling based on brdf and r-surfaces learning.
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Las Vegas, U.S.A., June, 2016.
Jose Medina, Felix Duvallet, Murali Karnam, and Aude Billard
A Human-Inspired Controller for Fluid Human-Robot Handovers.
In International Conference on Humanoid Robots, Cancun, Mexico, November, 2016.
[Humanoids2016]
Qi Liu-Yin, Rui Yu, Lourdes Agapito, Andrew Fitzgibbon, Chris Russell
Better Together: Joint Reasoning for Non-rigid 3D Reconstruction with Specularities and Shading
British Machine Vision Conference (BMVC) 2016.
BMVC 2016 Best Poster Award
[paper] [poster] [code] [dataset]
David Schiebener, Andreas Schmidt, and Tamim Asfour
Heuristic 3d object shape completion based on symmetry and scene context.
In IEEE/RAS International Conference on Intelligent Robots and Systems, Daejeon, Korea, October, 2016.
[paper]
N. Vahrenkamp, H. Arnst, M. Wächter, D. Schiebener, P. Sotiropoulos, M. Kowalik and T. Asfour, Workspace Analysis for Planning Human-Robot Interaction Tasks, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 1298 – 1303, Nov, 2016
[slides][paper]
N. Vahrenkamp, L. Westkamp, N. Yamanobe, E. E. Aksoy and T. Asfour, Part-based Grasp Planning for Familiar Objects, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 919 – 925, Nov, 2016
[paper]
S. Rader, L. Kaul, H. Fischbach, N. Vahrenkamp and T. Asfour, Design of a High-Performance Humanoid Dual Arm System with Inner Shoulder Joints, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 523 – 529, 2016
[paper]
S. Ottenhaus, M. Miller, D. Schiebener, N. Vahrenkamp and T. Asfour, Local Implicit Surface Estimation for Haptic Exploration, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 850 – 856, 2016
[paper]
L. Kaul, S. Ottenhaus, P. Weiner and T. Asfour, The Sense of Surface Orientation – A New Sensor Modality for Humanoid Robots, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 820 – 825, 2016
[paper]
Workshop paper
José Medina, Klas Kronander, and Aude Billard
Risk-sensitive Model Predictive Control for Reproducing Uncertain Dynamical Systems.
In Workshop on Dynamic Locomotion and Manipulation, E.T.H. Zurich, Switzerland, July 2016.
[ DLMC2016 ] [ bib | pdf ]
2015
Conference paper
Rui Yu, Chris Russell, Neill Campbell, and Lourdes Agapito
Direct, dense, and deformable: Template-based non-rigid 3d reconstruction from RGB video.
In IEEE International Conference in Computer Vision (ICCV), Santiago, Chile, December, 2015.
V. Ntouskos, M. Sanzari, B. Cafaro, F. Nardi, F. Natola, F. Pirri, and M. Ruiz Garcia
Component-wise modeling of articulated objects.
In IEEE International Conference in Computer Vision (ICCV), Santiago, Chile, December, 2015.
Fabrizio Natola, Valsamis Ntouskos, Marta Sanzari, and Fiora Pirri
Bayesian non-parametric inference for manifold based mocap representation.
In IEEE International Conference in Computer Vision (ICCV), Santiago, Chile, December, 2015.
M. Sanzari, F. Natola, F. Nardi, V. Ntouskos, M. Qudseya, and F. Pirri
Rigid tool affordance matching points of regard.
In Workshop “Learning object affordances: a fundamental step to allow prediction, planning and tool use?”, International Conference on Intelligent Robots and Systems (IROS),Hamburg, Germany, September, 2015.