Publications

This page lists publications created as part of the RoboHow project, as well as a few earlier publications describing relevant techniques employed in the project.

2016

Journal Articles
	Hierarchical Hypergraphs for Knowledge-centric Robot Systems: a Composable Structural Meta Model and its Domain Specific Language NPC4 (Enea Scioni, Nico Hübel, Sebastian Blumenthal, Azamat Shakhimardanov, Markus Klotzbücher, Hugo Garcia, Herman Bruyninckx), In JOSER, volume 7, 2016. [bib]
	Introducing Geometric Constraint Expressions into Robot Constrained Motion Specification and Control (G. Borghesan, E. Scioni, A. Kheddar, H. Bruyninckx), In IEEE Robotics and Automation Letters, volume 1, 2016. [bib] [doi]
PhD Thesis
	Online Coordination and Composition of Robotic Skills: Formal Models for Context-aware Task Scheduling (Enea Scioni), PhD thesis, IUSS Ferrara 1391, University of Ferrara, Italy and Department of Mechanical Engineering, KU Leuven, Belgium, 2016. [bib]

2015
Book Chapters
	Goal-directed actions (B. Hommel), Chapter in Handbook of Causal Reasoning (M. Waldmann, ed.), Oxford University Press, 2015. (Accepted for publication) [bib]
	Embodied cognition according to TEC (B. Hommel), Chapter in Foundations of Embodied Cognition (Y. Coello, M. Fischer, eds.), Psychology Press, 2015. (Accepted for publication) [bib]
	Robotic action control: On the crossroads of cognitive psychology and robotics (R. de Kleijn, G. Kachergis, B. Hommel), Chapter in Cognitive robotics (H. Samani, ed.), Taylor & Francis, 2015. (Accepted for publication) [bib]
Journal Articles
	Towards Force Sensing from Vision: Observing Hand-Object Interactions to Infer Manipulation Forces (T-H Pham, A. Kheddar, A. Qammaz, A.A. Argyros), In IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2015), 2015. (To appear.) [bib]
	Hierarchical Particle Filtering for 3D Hand Tracking (A. Makris, N. Kyriazis, A. Argyros), In IEEE Computer Society Workshop on Observing and understanding hands in action (HANDS 2015, CVPR 2015), 2015. (Under review) [bib]
	Real-time Pose Detection and Tracking of Hundreds of Objects (Karl Pauwels, Leonardo Rubio, Eduardo Ros), In IEEE Transactions on Circuits and Systems for Video Technology, 2015. ((Under review.)) [bib]
	Dexterous grasping under shape uncertainty (Miao Li, Kaiyu Hang, Danica Kragic, Aude Billard), In Robotics and Autonomous Systems, volume , 2015. (In press) [bib] [doi]
	A modular approach to learning manipulation strategies from human demonstration (Bidan Huang, Miao Li, RavinLuis De Souza, JoannaJ. Bryson, Aude Billard), In Autonomous Robots, Springer US, 2015. [bib] [doi]
Conference and Workshop Papers
	RoboSherlock: Unstructured Information Processing for Robot Perception (Michael Beetz, Ferenc Bálint-Benczédi, Nico Blodow, Daniel Nyga, Thiemo Wiedemeyer, Zoltan-Csaba Marton), In IEEE International Conference on Robotics and Automation (ICRA), 2015. (Accepted for publication) [bib]
	Generalized Plan Design For Autonomous Mobile Manipulation in Open Environments (Jan Winkler, Michael Beetz), In Proceedings of the 14th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2015. (Accepted for publication.) [bib]
	A Knowledge-Based Approach to Robotic Perception using Unstructured Information Management (Ferenc Bálint-Benczédi, Thiemo Wiedemeyer, Moritz Tenorth, Daniel Beßler, Michael Beetz), In Proceedings of the 14th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2015. (Accepted for publication) [bib]
	How to Use OpenEASE: An Online Knowledge Processing System for Robots and Robotics Researchers (Georg Bartels, Daniel Beßler, Michael Beetz, Moritz Tenorth, Jan Winkler), In Proceedings of the 14th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2015. (Accepted for publication) [bib]
	Open-EASE -- A Knowledge Processing Service for Robots and Robotics/AI Researchers (Michael Beetz, Moritz Tenorth, Jan Winkler), In IEEE International Conference on Robotics and Automation (ICRA), 2015. (Accepted for publication) [bib]
	Bridging the gap between Discrete Symbolic Planning and Optimization-based Robot Control (E. Scioni, G. Borghesan, H. Bruyninckx, M. Bonfe), In 2015 IEEE International Conference on Robotics and Automation, 2015. (Accepted for publication) [bib]
	Pervasive 'Calm' Perception for Autonomous Robotic Agents (T. Wiedemeyer, F. Bálint-Benczedi, M. Beetz), In Proceedings of the 2015 International Conference on Autonomous Agents and Multiagen Systems, ACM, 2015. (Accepted for publication) [bib] [doi]
	Metrics for Assessing Human Skill When Demonstrating a Bimanual Task to a Robot (A. L. Pais, A. Billard), In Proceedings of the 2015 ACM/IEEE International Conference on Human-robot Interaction, ACM, 2015. (Accepted for publication.) [bib] [doi]
	Learning Bimanual Coordinated Tasks From Human Demonstrations (A. L. Pais, A. Billard), In Proceedings of the 2015 ACM/IEEE International Conference on Human-robot Interaction, ACM, 2015. (Accepted for publication) [bib] [doi]
	Learning Task Outcome Prediction for Robot Control from Interactive Environments (Andrei Haidu, Daniel Kohlsdorf, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (under review) [bib]
	What No Robot Has Seen Before -- Probabilistic Interpretation of Natural-language Object Descriptions (Daniel Nyga, Mareike Picklum, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (under review) [bib]
	Robotic Agents Capable of Natural and Safe Physical Interaction with Human Co-workers (Michael Beetz, Georg Bartels, Alin Albu-Schäffer, Ferenc Bálint-Benczédi\, Rico Belder, Daniel Beßler, Sami Haddadin, Alexis Maldonado, Nico Mansfeld, Thiemo Wiedemeyer, Roman Weitschat, Jan-Hendrik Worch), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (under review) [bib]
	Robot Action Plans that Form and Maintain Expectations (Jan Winkler, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (under review) [bib]
	Scaling Perception Towards Real-World Tasks - In Knowledge Lies the Power (Ferenc Bálint-Benczédi, Patrick Mania, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (under review) [bib]
	Reasoning about Unmodelled Concepts -- Incorporating Class Taxonomies in Probabilistic Relational Models (Daniel Nyga, Michael Beetz), In Arxiv.org, 2015. (Preprint: http://arxiv.org/abs/1504.05411) [bib]
	Probabilistic Knowledge Bases for Interpreting Instructions (Daniel Nyga, Michael Beetz), In Arxiv.org, 2015. (Preprint) [bib]
	Towards Robots Conducting Chemical Experiments (Gheorghe Lisca, Daniel Nyga, Ferenc Bálint-Benczédi, Hagen Langer, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (Accepted for publication.) [bib]
Other Publications
	Analyzing Human Behavior and Bootstrapping Task Constraints from Kinesthetic Demonstrations (A. L. Pais, A. Billard), HRI Pioneers Workshop, 2015. [bib] [doi]
	Specification of kinematic structures and algorithms based on geometric relations semantics (Azamat Shakhimardanov, Herman Bruyninckx, Marieke Copejans, Ruben Smits), Under review., 2015. [bib]

2014
Journal Articles
	Beyond pressing keys and grasping objects: The challenges of real-time sequential action control (R. de Kleijn, G. Kachergis, B. Hommel), In Frontiers in Neurorobotics, 2014. [bib]
	A continuous-time neural model for sequential action (George Kachergis, Dean Wyatte, Randall C. O\textquoterightReilly, Roy de Kleijn, Bernhard Hommel), In Philosophical Transactions of the Royal Society of London B: Biological Sciences, The Royal Society, volume 369, 2014. [bib] [doi]
	Shape from interaction (Damien Michel, Xenophon Zabulis, Antonis A. Argyros), In Machine Vision and Applications, Springer Berlin Heidelberg, volume 25, 2014. [bib] [doi]
	Everyday robotic action: Lessons from human action control (R. de Kleijn, G. Kachergis, B. Hommel), In Frontiers in Neurorobotics, volume 8:13, 2014. [bib]
Conference and Workshop Papers
	Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing (Don Joven Agravante, Andrea Cherubini, Antoine Bussy, Pierre Gergondet, Abderrahmane Kheddar), In International Conference on Robotics and Automation (ICRA), 2014. [bib] [pdf] [doi]
	Constraint-based specification of hybrid position-impedance-force tasks (Gianni Borghesan, Joris De Schutter), In IEEE Proc. of the Int. Conf. on Robotics and Automation, 2014. [bib] [pdf] [doi]
	Constraint- and synergy-based specification of manipulation tasks (Gianni Borghesan, Erwin Aertbeliën, Joris De Schutter), In IEEE Proc. of the Int. Conf. on Robotics and Automation, 2014. [bib] [pdf] [doi]
	Learning object-level impedance control for robust grasping and dexterous manipulation (Miao Li, Hang Yin, Kenji Tahara, Aude Billard), In Proceedings of the International Conference on Robotics and Automation (ICRA), 2014. [bib] [pdf] [doi]
	Combining 3D SLAM and Visual Tracking to Reach and Retrieve Objects in Daily-Life Indoor Environments (Pierre Gergondet, Damien Petit, Maxime Meilland, Abderrahmane Kheddar, Andrew I. Comport, Andrea Cherubini), In , 2014. [bib]
	Model Preview Control in Multi-Contact Motion--Application to a Humanoid Robot (Hervé Audren, Joris Vaillant, Abderrahmane Kheddar, Adrien Escande, Kenji Kaneko 1, Eiichi Yoshida), In Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014. [bib]
	eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphs (E. Aertbelien, J. De Schutter), In Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014. [bib]
	Evolutionary Quasi-Random Search for Hand Articulations Tracking (Iason Oikonomidis, Manolis IA Lourakis, Antonis A. Argyros), In Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on, 2014. [bib] [doi]
	Scalable 3D Tracking of Multiple Interacting Objects (Nikolaos Kyriazis, Antonis A. Argyros), In Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on, 2014. [bib] [doi]
	A framework for formal specification of robotic constraint-based tasks and their concurrent execution with online qos monitoring (E. Scioni, G. Borghesan, H. Bruyninckx, M. Bonfe), In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014. [bib]
	Learning of grasp adaptation through experience and tactile sensing (Miao Li, Y. Bekiroglu, D. Kragic, A. Billard), In Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014. [bib] [doi]
	Encoding Bi-manual Coordination Patterns from Human Demonstrations (Ana Lucia Pais, Aude Billard), In Proceedings of the 2014 ACM/IEEE International Conference on Human-robot Interaction, 2014. [bib] [doi]
	Dual Arm Manipulation using Constraint Based Programming (Yuquan Wang, Francisco Viña, Yiannis Karayiannidis, Christian Smith, Petter Ögren), In Workshop on Motion Planning for Industrial Robots, at 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), 2014. [bib]
	Learning to Disambiguate Object Hypotheses through Self-Exploration (M\rarten Bj\"orkman, Yasemin Bekiro\uglu), In IEEE-RAS International Conference on Humanoid Robots, 2014. [bib] [doi]
	What's in the container? Classifying object contents from vision and touch (P. Guler, Y. Bekiroglu, X. Gratal, K. Pauwels, D. Kragic), In Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014. [bib] [doi]
	Grasp moduli spaces and spherical harmonics (F.T. Pokorny, Y. Bekiroglu, D. Kragic), In IEEE International Conference on Robotics and Automation (ICRA), 2014. [bib] [doi]
	Mapping Human Intentions to Robot Motions via Physical Interaction Through a Jointly-held Object. (Yiannis Karayiannidis, Christian Smith, Danica Kragic), In The 23rd IEEE International Symposium on Robot and Human Interactive Communication, 2014. [bib] [doi]
	Adaptive Contact Point Estimation for Autonomous Tool Manipulation (Francisco Vina, Christian Smith, Danica Kragic, Yiannis Karayiannidis), In Autonomous Grasping and Manipulation Workshop at the IEEE International Conference on Robots and Automation, 2014. [bib]
	Online Contact Point Estimation for Uncalibrated Tool Use (Yiannis Karayiannidis, Christian Smith, Francisco Vina, Danica Kragic), In IEEE International Conference on Robotics and Automation, 2014. [bib] [pdf] [doi]
	Trajectory effects in a novel serial reaction time task (G. Kachergis, F. Berends, R. de Kleijn, B. Hommel), In Proceedings of the 36th Annual Conference of the Cognitive Science Society, 2014. [bib]
	Reward effects on sequential action learning in a trajectory serial reaction time task (G. Kachergis, R. de Kleijn, F. Berends, B. Hommel), In Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2014 Joint IEEE International Conferences on, 2014. [bib] [doi]
	Knowledge-based Specification of Robot Motions (Moritz Tenorth, Georg Bartels, Michael Beetz), In Proceedings of the European Conference on Artificial Intelligence (ECAI), 2014. [bib]
	PR2 Looking at Things: Ensemble Learning for Unstructured Information Processing with Markov Logic Networks (Daniel Nyga, Ferenc Balint-Benczedi, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2014. [bib]
	Controlled Natural Languages for Language Generation in Artificial Cognition (Nicholas H. Kirk, Daniel Nyga, Michael Beetz), In 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014. [bib] [pdf]
Other Publications
	Popov-Vereshchaginalgorithm for linear-time hybrid dynamics, control and monitoring with weighted or prioritized partial motion constraints in tree-structured kinematic chains (Azamat Shakhimardanov, Herman Bruyninckx, Marieke Copejans, Ruben Smits), Under review., 2014. (Under review.) [bib]

2013
Journal Articles
	KnowRob -- A Knowledge Processing Infrastructure for Cognition-enabled Robots (Moritz Tenorth, Michael Beetz), In International Journal of Robotics Research (IJRR), volume 32, 2013. [bib] [doi]
	Representation and Exchange of Knowledge about Actions, Objects, and Environments in the RoboEarth Framework (Moritz Tenorth, Alexander Clifford Perzylo, Reinhard Lafrenz, Michael Beetz), In IEEE Transactions on Automation Science and Engineering (T-ASE), volume 10, 2013. [bib] [pdf] [doi]
	Generation of Whole-body Optimal Dynamic Multi-Contact Motions (S. Lengagne, J. Vaillant, A. Kheddar, E. Yoshida), In International Journal of Robotics Research, 2013. [bib] [doi]
	Ideomotor action control: On the perceptual grounding of voluntary actions and agents (Bernard Hommel), In Action science: Foundations of an emerging discipline(MIT Press), MIT Press (MA), 2013. [bib]
	Dancing in the dark : No role for consciousness in action control (Bernard Hommel), In Frontiers in Psychology, volume 4, 2013. [bib] [doi]
	Integrating tracking with fine object segmentation (Konstantinos E. Papoutsakis, Antonis A. Argyros), In Image and Vision Computing, volume 31, 2013. () [bib] [pdf] [doi]
	Tracking the Articulated Motion of Human Hands in 3D (I. Oikonomidis, N. Kyriazis, A. Argyros), In ERCIM News, volume 2013, 2013. [bib] [pdf]
	Assessing Interaction Dynamics in the Context of Robot Programming by Demonstration (AnaLucia Pais, BrennaD. Argall, AudeG. Billard), In International Journal of Social Robotics, Springer Netherlands, volume 5, 2013. [bib] [doi]
Conference and Workshop Papers
	Language for Learning Complex Human-Object Interactions (Mitesh Patel, Carl Henrik Ek, Nikolaos Kyriazis, Antonis Argyros, Jaime Valls Miro, Danica Kragic), In IEEE International Conference on Robotics and Automation (ICRA), 2013. [bib] [pdf]
	Predicting Human Intention in Visual Observations of Hand/Object Interactions (Dan Song, Nikolaos Kyriazis, Iason Oikonomidis, Chavdar Papazov, Antonis Argyros, Darius Burschka, Danica Kragic), In IEEE International Conference on Robotics and Automation (ICRA), 2013. [bib] [pdf]
	Physically Plausible 3D Scene Tracking: The Single Actor Hypothesis (N. Kyriazis, A.A. Argyros), In IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2013), 2013. [bib] [pdf]
	Learning a Real Time Grasping Strategy (Bidan Huang, S. El-Khoury, Miao Li, Joanna J. Bryson, A. Billard), In IEEE International Conference on Robotics and Automation (ICRA), 2013. [bib] [pdf]
	Model-free robot manipulation of doors and drawers by means of fixed-grasps. (Yiannis Karayiannidis, Christian Smith, Francisco Vina, Petter Ögren, Danica Kragic), In IEEE International Conference on Robotics and Automation (ICRA), 2013. [bib] [pdf]
	Fast Temporal Projection Using Accurate Physics-Based Geometric Reasoning (Lorenz Mösenlechner, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2013. [bib] [pdf]
	A Probabilistic Framework for Task-Oriented Grasp Stability Assessment (Y. Bekiroglu, D. Song, L. Wang, D. Kragic), In IEEE International Conference on Robotics and Automation (ICRA), 2013. [bib] [pdf]
	Learning Probability Distributions over Partially-Ordered Human Everyday Activities (Moritz Tenorth, Fernando De la Torre, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2013. [bib] [pdf]

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