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),  (To appear)

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

Mahdi Khoramshahi and Aude Billard. A dynamical system approach to task-adaptation in physical human-robot interaction. Autonomous Robots, May 2018.

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

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.

Conference 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/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2018, (To appear)

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, (To appear)

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 (To appear) [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), October 2018, (To appear)

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 (To appear).

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

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.

PhD Theses

Rui Yu, Learning Dense 3D Models from Monocular Video, University College London, July 2018 (submitted)

Under Review

Mahdi Khoramshahi, and Aude Billard. A dynamical system approach for detection and reaction to human guidance in physical human-robot interaction.

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]

A Agudo, JMM Montiel, L Agapito, B Calvo, Modal space: A physics-based model for sequential estimation of time-varying shape from monocular videoJournal of Mathematical Imaging and Vision 57 (1), JVolume 57, Issue 1pp 75–98

[paper]

Conference paper

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 ]

Samuel Rader, Lukas Kaul, Pascal Weiner, and Tamim Asfour. Highly integrated sensor-actuator-controller units for modular robot design. In IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pages 1160–1166, July 2017.
 [paper]
Martin Rünz and Lourdes Agapito, Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple ObjectsIEEE International Conference on Robotics and Automation (ICRA), May 2017

Workshop paper

Q. Zhu, V. Perera, M. W. Wächter, T. Asfour and M. Veloso, Autonomous Narration of Humanoid Robot Kitchen Task ExperienceIEEE/RAS International Conference on Humanoid Robots (Humanoids), November 2017
 [bib]

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

Under review

Francesco Puja, Simone Grazioso, Antonio Tammaro, Valsmis Ntouskos, Marta Sanzari, Fiora Pirri, Vision-based deep execution monitoring, submitted to arXiv.org, September 2017
[paper]

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.

J Carreira, S Vicente, L Agapito, J Batista, Lifting object detection datasets into 3DIEEE 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.
[IROS 2016]

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 ] [ bibpdf ]

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.