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Robots Understanding Their Actions by Imagining Their Effects

Publications

Autonomous skill-centric testing using deep learning

Author(s): Simon Hangl, Sebastian Stabinger, Justus Piater
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 95-102
DOI: 10.1109/IROS.2017.8202143

Towards Generalizable Associative Skill Memories

Author(s): Hakan Girgin; Emre Ugur
Published in: ICRA 2017 Workshop on Learning and control for autonomous manipulation systems: the role of dimensionality reduction, Issue 1, 2017
DOI: 10.5281/zenodo.1183528

Model-Based Reinforcement Learning via Meta-Policy Optimization

Author(s): Clavera, Ignasi; Rothfuss, Jonas; Schulman, John; Fujita, Yasuhiro; Asfour, Tamim; Abbeel, Pieter
Published in: Conference on Robot Learning, Issue 1, 2018

Conditional Neural Movement Primitives

Author(s): M. Yunus Seker; Mert Imre; Justus Piater; Emre Ugur
Published in: Robotics: Science and Systems, Issue 1, 2019

Interleaving Hierarchical Task Planning and Motion Constraint Testing for Dual-Arm Manipulation

Author(s): Alejandro Suarez-Hernandez, Guillem Alenya, Carme Torras
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 4061-4066
DOI: 10.1109/IROS.2018.8593847

Associative Skill Memory Models

Author(s): Hakan Girgin; Emre Ugur
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, Issue 1, 2018, Page(s) 6043-6048

Learning Visual Dynamics Models of Rigid Objects using Relational Inductive Biases10-30

Author(s): Ferreira, Fabio; Shao, Lin; Asfour, Tamim; Bohg, Jeannette
Published in: NeurIPS 2019 Graph Representation Learning workshop, Issue 1, 2019
DOI: 10.5281/zenodo.3523161

The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm

Author(s): Julia Borras, Raphael Heudorfer, Samuel Rader, Peter Kaiser, Tamim Asfour
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 4590-4597
DOI: 10.1109/IROS.2018.8593567

Learning Via-Point Movement Primitives with Inter- and Extrapolation Capabilities

Author(s): Zhou, You; Gao, Jianfeng; Asfour, Tamim
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, Issue 1, 2019
DOI: 10.5281/zenodo.3523144

Computational models of affordance in robotics: a taxonomy and systematic classification

Author(s): Philipp Zech, Simon Haller, Safoura Rezapour Lakani, Barry Ridge, Emre Ugur, Justus Piater
Published in: Adaptive Behavior, Issue 25/5, 2017, Page(s) 235-271, ISSN 1059-7123
DOI: 10.1177/1059712317726357

Extraction of Physically Plausible Support Relations to Predict and Validate Manipulation Action Effects

Author(s): Rainer Kartmann, Fabian Paus, Markus Grotz, Tamim Asfour
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 3991-3998, ISSN 2377-3766
DOI: 10.1109/lra.2018.2859448

Practical Resolution Methods for MDPs in Robotics Exemplified With Disassembly Planning

Author(s): Alejandro Suarez-Hernandez, Carme Torras, Guillem Alenya
Published in: IEEE Robotics and Automation Letters, Issue 4/3, 2019, Page(s) 2282-2288, ISSN 2377-3766
DOI: 10.1109/LRA.2019.2901905

Deep effect trajectory prediction in robot manipulation

Author(s): M. Yunus Seker, Ahmet E. Tekden, Emre Ugur
Published in: Robotics and Autonomous Systems, Issue 119, 2019, Page(s) 173-184, ISSN 0921-8890
DOI: 10.1016/j.robot.2019.07.003

Context-based affordance segmentation from 2D images for robot actions

Author(s): Timo Lüddecke, Tomas Kulvicius, Florentin Wörgötter
Published in: Robotics and Autonomous Systems, Issue 119, 2019, Page(s) 92-107, ISSN 0921-8890
DOI: 10.1016/j.robot.2019.05.005

Compliant Parametric Dynamic Movement Primitives

Author(s): Emre Ugur, Hakan Girgin
Published in: Robotica, 2019, Page(s) 1-18, ISSN 0263-5747
DOI: 10.1017/S026357471900078X

Relational reinforcement learning for planning with exogenous effects

Author(s): Martinez , David; Alenya , Guillem; Ribeiro , Tony; Inoue , Katsumi; Torras , Carme
Published in: Journal of Machine Learning Research, Issue 18, 2017, ISSN 1533-7928

Action representations in robotics: A taxonomy and systematic classification

Author(s): Philipp Zech, Erwan Renaudo, Simon Haller, Xiang Zhang, Justus Piater
Published in: The International Journal of Robotics Research, Issue 38/5, 2019, Page(s) 518-562, ISSN 0278-3649
DOI: 10.1177/0278364919835020

Affordance-based altruistic robotic architecture for human–robot collaboration

Author(s): Mert Imre, Erhan Oztop, Yukie Nagai, Emre Ugur
Published in: Adaptive Behavior, Issue 27/4, 2019, Page(s) 223-241, ISSN 1059-7123
DOI: 10.1177/1059712318824697

Datasets

Lever Up Trajectories for Various Shapes

Author(s): Ahmet Ercan Tekden,Muhammet Yunus Seker,Emre Ugur
Published in: Zenodo

HDD Models Bogazici University

Author(s): Seker, Yunus
Published in: Zenodo