Robots Understanding Their Actions by Imagining Their Effects

Publications

Conference proceedings (30)

How does explicit exploration influence Deep Reinforcement Learning?

Author(s): Jakob Hollenstein, Erwan Renaudo, Matteo Saveriano, Justus Piater
Published in: Proceedings of the Joint Austrian Computer Vision and Robotics Workshop 2020, 2020, Page(s) 29-30
DOI: 10.3217/978-3-85125-752-6

Belief Regulated Dual Propagation Nets for Learning Action Effects on Groups of Articulated Objects

Author(s): Ahmet E. Tekden, Aykut Erdem, Erkut Erdem, Mert Imre, M. Yunus Seker, Emre Ugur
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 10556-10562
DOI: 10.1109/icra40945.2020.9196878

Reconfigurable Behavior Trees: Towards an Executive Framework Meeting High-level Decision Making and Control Layer Features

Author(s): de la Cruz, Pilar; Piater, Justus; Saveriano, Matteo
Published in: IEEE International Conference on Systems, Man, and Cybernetics, 2020

Leveraging Multiple Environments for Learning and Decision Making: a Dismantling Use Case

Author(s): Alejandro Suarez-Hernandez, Thierry Gaugry, Javier Segovia-Aguas, Antonin Bernardin, Carme Torras, Maud Marchal, Guillem Alenya
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 6902-6908
DOI: 10.1109/iros45743.2020.9341182

ACNMP: Skill Transfer and Task Extrapolation through Learning from Demonstration and Reinforcement Learning via Representation Sharing

Author(s): Akbulut, M. Tuluhan; Oztop, Erhan; Seker, M. Yunus; Xue, Honghu; Tekden, Ahmet E.; Ugur, Emre
Published in: Conference on Robot Learning (CoRL), Issue 11, 2020

DCNN-Based Screw Detection for Automated Disassembly Processes

Author(s): Erenus Yildiz, Florentin Worgotter
Published in: 2019 15th International Conference on Signal-Image Technology & Internet-Based Systems (SITIS), 2019, Page(s) 187-192
DOI: 10.1109/sitis.2019.00040

A Visual Intelligence Scheme for Hard Drive Disassembly in Automated Recycling Routines

Author(s): Erenus Yildiz, Tobias Brinker, Erwan Renaudo, Jakob Hollenstein, Simon Haller-Seeber, Justus Piater, Florentin Wörgötter
Published in: Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems, 2020, Page(s) 17-27
DOI: 10.5220/0010016000170027

Active Deformation through Visual Servoing of Soft Objects

Author(s): Romain Lagneau, Alexandre Krupa, Maud Marchal
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 8978-8984
DOI: 10.1109/icra40945.2020.9197506

Conditional Neural Movement Primitives

Author(s): Muhammet Yunus Seker, Mert Imre, Justus Piater, Emre Ugur
Published in: Robotics: Science and Systems XV, 2019
DOI: 10.15607/rss.2019.xv.071

The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks

Author(s): Klas, C., Hundhausen, F., Gao, J., Dreher, C. R. G., Reither, S., Zhou, Y. and Asfour, T.
Published in: IEEE International Conference on Robotics and Automation (ICRA), May, 2021, 2021

Evaluating Planning for Policy Search

Author(s): Jakob Hollenstein and Justus Piater
Published in: 1st Workshop on Workshop on Closing the Reality Gap in Sim2real Transfer for Robotic Manipulation, 2019

Coping with the variability in humans reward during simulated human-robot interactions through the coordination of multiple learning strategies *

Author(s): Remi Dromnelle, Benoit Girard, Erwan Renaudo, Raja Chatila, Mehdi Khamassi
Published in: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020, Page(s) 612-617
DOI: 10.1109/ro-man47096.2020.9223451

Reward Conditioned Neural Movement Primitives for Population Based Variational Policy Optimization

Author(s): Akbulut, M. Tuluhan; Bozdogan, Utku; Tekden, Ahmet; Ugur, Emre
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), Issue 3, 2021

DCNN-based Screw Classification in Automated Disassembly Processes

Author(s): Erenus Yildiz, Florentin Wörgötter
Published in: Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems, 2020, Page(s) 61-68
DOI: 10.5220/0009979900610068

Conflicting Bundles: Adapting Architectures Towards the Improved Training of Deep Neural Networks

Author(s): Peer, David; Stabinger, Sebastian; Rodriguez-Sanchez, Antonio
Published in: IEEE/CVF Winter Conference on Applications of Computer Vision, 2021

Online Action Recognition

Author(s): Suárez-Hernández, Alejandro; Segovia-Aguas, Javier; Torras, Carme; Alenyà, Guillem
Published in: AAAI Conference on Artificial Intelligence, Issue 14, 2021

STRIPS action discovery

Author(s): Alejandro Suárez Hernández, Javier Segovia-Aguas,Carme Torras, Guillem Alenyà
Published in: GenPlan AAAI Workshop on Generalization in Planning, 2020

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

How do Offline Measures for Exploration in Reinforcement Learning behave?

Author(s): Hollenstein, Jakob J.; Auddy, Sayantan; Saveriano, Matteo; Renaudo, Erwan; Piater, Justus
Published in: Knowledge Based Reinforcement Learning Workshop, 2021

An Energy-based Approach to Ensure the Stability of Learned Dynamical Systems

Author(s): Matteo Saveriano
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 4407-4413
DOI: 10.1109/icra40945.2020.9196978

Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects

Author(s): Agniva Sengupta, Romain Lagneau, Alexandre Krupa, Eric Marchand, Maud Marchal
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 10038-10044
DOI: 10.1109/icra40945.2020.9196770

An Interactive Physically-based Model for Active Suction Phenomenon Simulation

Author(s): Antonin Bernardin, Christian Duriez, Maud Marchal
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 1466-1471
DOI: 10.1109/iros40897.2019.8967526

Peer reviewed articles (16)

Generalized Planning with Positive and Negative Examples

Author(s): Javier Segovia-Aguas, Sergio Jiménez, Anders Jonsson
Published in: Proceedings of the AAAI Conference on Artificial Intelligence, Issue 34/06, 2020, Page(s) 9949-9956, ISSN 2374-3468
DOI: 10.1609/aaai.v34i06.6550

Automatic Shape Control of Deformable Wires Based on Model-Free Visual Servoing

Author(s): Romain Lagneau, Alexandre Krupa, Maud Marchal
Published in: IEEE Robotics and Automation Letters, Issue 5/4, 2020, Page(s) 5252-5259, ISSN 2377-3766
DOI: 10.1109/lra.2020.3007114

conflicting_bundle.py—A python module to identify problematic layers in deep neural networks

Author(s): David Peer, Sebastian Stabinger, Antonio Rodríguez-Sánchez
Published in: Software Impacts, Issue 7, 2021, Page(s) 100053, ISSN 2665-9638
DOI: 10.1016/j.simpa.2021.100053

Symbol Emergence in Cognitive Developmental Systems: A Survey

Author(s): Tadahiro Taniguchi, Justus Piater, Florentin Worgotter, Emre Ugur, Matej Hoffmann, Lorenzo Jamone, Takayuki Nagai, Benjamin Rosman, Toshihiko Matsuka, Naoto Iwahashi, Erhan Oztop
Published in: IEEE Transactions on Cognitive and Developmental Systems, Issue 11/4, 2019, Page(s) 494-516, ISSN 2379-8920
DOI: 10.1109/TCDS.2018.2867772

Learning from Multiple Demonstrations with Different Modes of Operations

Author(s): Utku Bozdogan
Published in: International Journal of Intelligent Systems and Applications in Engineering, Issue 8/1, 2020, Page(s) 37-44, ISSN 2147-6799
DOI: 10.18201/ijisae.2020158887

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

Combining decision making and dynamical systems for monitoring and executing manipulation tasks

Author(s): Matteo Saveriano, Justus Piater
Published in: e & i Elektrotechnik und Informationstechnik, Issue 137/6, 2020, Page(s) 309-315, ISSN 0932-383X
DOI: 10.1007/s00502-020-00816-7

Limitation of capsule networks

Author(s): David Peer, Sebastian Stabinger, Antonio Rodríguez-Sánchez
Published in: Pattern Recognition Letters, Issue 144, 2021, Page(s) 68-74, ISSN 0167-8655
DOI: 10.1016/j.patrec.2021.01.017

Other (2)

Auto-tuning of Deep Neural Networks by Conflicting Layer Removal

Author(s): Peer, David; Stabinger, Sebastian; Rodriguez-Sanchez, Antonio
Published in: submitted to Neural Networks, 2021

Object and Relation Centric Representations for Push Effect Prediction

Author(s): Tekden, Ahmet E.; Erdem, Aykut; Erdem, Erkut; Asfour, Tamim; Ugur, Emre
Published in: 2021