Publications

2022

Article: A Stack-of-Tasks Approach Combined With Behavior Trees : A New Framework for Robot Control
Dominguez, David Caceres and Iannotta, Marco and Stork, Johannes Andreas and Schaffernicht, Erik and Stoyanov, Todor
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Conference Paper: Context-Aware Grasp Generation in Cluttered Scenes
Hoang, Dinh-Cuong and Stork, Johannes Andreas and Stoyanov, Todor
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Article: Ensemble Learning-Based Approach for Gas Detection Using an Electronic Nose in Robotic Applications
Fan, Han and Schaffernicht, Erik and Lilienthal, Achim
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Conference Paper: Gather Dust and Get Dusted : Long-Term Drift and Cleaning of Sharp GP2Y1010AU0F Dust Sensor in a Steel Factory
Winkler, Nicolas P. and Neumann, Patrick P. and Schaffernicht, Erik and Lilienthal, Achim and Poikkimäki, Mikko and Kangas, Anneli and Säämänen, Arto
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Conference Paper: Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees
Iannotta, Marco and Dominguez, David Caceres and Stork, Johannes Andreas and Schaffernicht, Erik and Stoyanov, Todor
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Article: Hierarchical goals contextualize local reward decomposition explanations
Rietz, Finn and Magg, Sven and Heintz, Fredrik and Stoyanov, Todor and Wermter, Stefan and Stork, Johannes A
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Conference Paper: Learn to Predict Posterior Probability in Particle Filtering for Tracking Deformable Linear Objects
Yang, Yuxuan and Stork, Johannes Andreas and Stoyanov, Todor
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Article: Learning differentiable dynamics models for shape control of deformable linear objects
Yang, Yuxuan and Stork, Johannes Andreas and Stoyanov, Todor
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Conference Paper: Learning From the Past : Sequential Deep Learning for Gas Distribution Mapping
Winkler, Nicolas P. and Kotlyar, Oleksandr and Schaffernicht, Erik and Fan, Han and Matsukura, Haruka and Ishida, Hiroshi and Neumann, Patrick P. and Lilienthal, Achim
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Conference Paper: Online Model Learning for Shape Control of Deformable Linear Objects
Yang, Yuxuan and Stork, Johannes Andreas and Stoyanov, Todor
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Article: Particle Filters in Latent Space for Robust Deformable Linear Object Tracking
Yang, Yuxuan and Stork, Johannes A. and Stoyanov, Todor
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Article: Small number enumeration processes of deaf or hard-of-hearing students : A study using eye tracking and artificial intelligence
Schindler, Maike and Doderer, Jan H. and Simon, Anna L. and Schaffernicht, Erik and Lilienthal, Achim J. and Schäfer, Karolin
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Conference Paper: Super-Resolution for Gas Distribution Mapping : Convolutional Encoder-Decoder Network
Winkler, Nicolas P. and Matsukura, Haruka and Neumann, Patrick P. and Schaffernicht, Erik and Ishida, Hiroshi and Lilienthal, Achim J.
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Conference Paper: Towards Gas Identification in Unknown Mixtures Using an Electronic Nose with One-Class Learning
Fan, Han and Jonsson, Daniel and Schaffernicht, Erik and Lilienthal, Achim
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Conference Paper: Towards Task-Prioritized Policy Composition
Rietz, Finn and Schaffernicht, Erik and Stoyanov, Todor and Stork, Johannes Andreas
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Conference Paper: Transferring Knowledge for Reinforcement Learning in Contact-Rich Manipulation
Yang, Quantao and Stork, Johannes Andreas and Stoyanov, Todor
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2021

Conference Paper: Development of a Low-Cost Sensing Node with Active Ventilation Fan for Air Pollution Monitoring
Winkler, Nicolas P. and Neumann, Patrick P. and Kohlhoff, Harald and Erdmann, Jessica and Schaffernicht, Erik and Lilienthal, Achim
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Conference Paper: Learning Impedance Actions for Safe Reinforcement Learning in Contact-Rich Tasks
Yang, Quantao and Dürr, Alexander and Topp, Elin Anna and Stork, Johannes Andreas and Stoyanov, Todor
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Conference Paper: Learning to Propagate Interaction Effects for Modeling Deformable Linear Objects Dynamics
Yang, Yuxuan and Stork, Johannes Andreas and Stoyanov, Todor
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Conference Paper: Null space based efficient reinforcement learning with hierarchical safety constraints
Yang, Quantao and Stork, Johannes Andreas and Stoyanov, Todor
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Article: Sniffing out fugitive methane emissions : autonomous remote gas inspection with a mobile robot
Arain, Muhammad Asif and Hernandez Bennetts, Victor and Schaffernicht, Erik and Lilienthal, Achim
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Conference Paper: Using Redundancy in a Sensor Network to Compensate Sensor Failures
Winkler, Nicolas P. and Neumann, Patrick P. and Schaffernicht, Erik and Lilienthal, Achim
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Conference Paper: Using Redundancy in a Sensor Network to Compensate Sensor Failures
Winkler, Nicolas P. and Neumann, Patrick P. and Schaffernicht, Erik and Lilienthal, Achim J.
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2020

Conference Paper: Ensemble of Sparse Gaussian Process Experts for Implicit Surface Mapping with Streaming Data
Stork, Johannes Andreas and Stoyanov, Todor
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Conference Paper: High-quality meets low-cost : Approaches for hybrid-mobility sensor networks
Winkler, Nicolas P. and Neumann, Patrick P. and Säämänen, Arto and Schaffernicht, Erik and Lilienthal, Achim J.
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Conference Paper: Identifying student strategies through eye tracking and unsupervised learning : The case of quantity recognition
Schindler, Maike and Schaffernicht, Erik and Lilienthal, Achim
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Conference Paper: Multi-Object Rearrangement with Monte Carlo Tree Search : A Case Study on Planar Nonprehensile Sorting
Song, Haoran and Haustein, Joshua A. and Yuan, Weihao and Hang, Kaiyu and Wang, Michael Yu and Kragic, Danica and Stork, Johannes Andreas
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Article: Preparing to adapt is key for Olympic curling robots
Stork, Johannes Andreas
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Conference Paper: The effect of Target Normalization and Momentum on Dying ReLU
Isac, Arnekvist and J. Frederico, Carvalho and Kragic, Danica and Stork, Johannes Andreas
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2019

Conference Paper: Data-Driven Model Predictive Control for the Contact-Rich Task of Food Cutting
Mitsioni, Ioanna and Karayiannidis, Yiannis and Stork, Johannes Andreas and Kragic, Danica
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Conference Paper: Differences in Quantity Recognition Between Students with and without Mathematical Difficulties Analyzed Through Eye : Analysis Through Eye-Tracking and AI
Schindler, Maike and Schaffernicht, Erik and Lilienthal, Achim J.
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Article: End-to-end nonprehensile rearrangement with deep reinforcement learning and simulation-to-reality transfer
Yuan, Weihao and Hang, Kaiyu and Kragic, Danica and Wang, Michael Y. and Stork, Johannes Andreas
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Article: FireNose on Mobile Robot in Harsh Environments
Xing, Yuxin and Vincent, Timothy A. and Fan, Han and Schaffernicht, Erik and Hernandez Bennetts, Victor and Lilienthal, Achim J. and Cole, Marina and Gardner, Julian W.
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Pre-print: Learning Manipulation States and Actions for Efficient Non-prehensile Rearrangement Planning
Haustein, Joshua A. and Arnekvist, Isac and Stork, Johannes Andreas and Hang, Kaiyu and Kragic, Danica
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Conference Paper: Object Placement Planning and optimization for Robot Manipulators
Haustein, J. A. and Hang, K. and Stork, Johannes Andreas and Kragic, D.
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Article: Perching and resting : A paradigm for UAV maneuvering with modularized landing gears
Hang, Kaiyu and Lyu, Ximin and Song, Haoran and Stork, Johannes Andreas and Dollar, Aaron and Kragic, Danica and Zhang, Fu
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Conference Paper: Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation
Yuan, Weihao and Hang, Kaiyu and Song, Haoran and Kragic, Danica and Wang, Michael Y. and Stork, Johannes Andreas
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Conference Paper: Semi-supervised Gas Detection Using an Ensemble of One-class Classifiers
Fan, Han and Hernandez Bennetts, Victor and Schaffernicht, Erik and Lilienthal, Achim J.
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Article: Towards Gas Discrimination and Mapping in Emergency Response Scenarios Using a Mobile Robot with an Electronic Nose
Fan, Han and Hernandez Bennetts, Victor and Schaffernicht, Erik and Lilienthal, Achim J.
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Conference Paper: VPE : Variational Policy Embedding for Transfer Reinforcement Learning
Arnekvist, Isac and Kragic, Danica and Stork, Johannes Andreas
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2018

Article: A cluster analysis approach based on exploiting density peaks for gas discrimination with electronic noses in open environments
Fan, Han and Hernandez Bennetts, Victor and Schaffernicht, Erik and Lilienthal, Achim
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Article: Data-Driven Conceptual Spaces : Creating Semantic Representations for Linguistic Descriptions of Numerical Data
Banaee, Hadi and Schaffernicht, Erik and Loutfi, Amy
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Conference Paper: Global Search with Bernoulli Alternation Kernel for Task-oriented Grasping Informed by Simulation
Antonova, Rika and Kokic, Mia and Stork, Johannes Andreas and Kragic, Danica
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Conference Paper: Non-prehensile Rearrangement Planning with Learned Manipulation States and Actions
Haustein, J A and Arnekvist, I and Stork, Johannes Andreas and Hang, K and Kragic, D
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Conference Paper: Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning
Yuan, Weihao and Stork, Johannes Andreas and Kragic, Danica and Wang, Michael Y. and Hang, Kaiyu
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Pre-print: Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation
Yuan, Weihao and Hang, Kaiyu and Song, Haoran and Kragic, Danica and Wang, Michael Yu and Stork, Johannes Andreas
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Conference Paper: Safe-To-Explore State Spaces : Ensuring Safe Exploration in Policy Search with Hierarchical Task Optimization
Lundell, Jens and Krug, Robert and Schaffernicht, Erik and Stoyanov, Todor and Kyrki, Ville
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Pre-print: VPE: Variational Policy Embedding for Transfer Reinforcement Learning
Arnekvist, Isac and Kragic, Danica and Stork, Johannes Andreas
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2017

Article: A Framework For Optimal Grasp Contact Planning
Hang, Kaiyu and Stork, Johannes Andreas and Pollard, Nancy S. and Kragic, Danica
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Conference Paper: Affordance detection for task-specific grasping using deep learning
Kokic, Mia and Stork, Johannes Andreas and Haustein, Joshua A. and Kragic, Danica
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Conference Paper: Bayesian Gas Source Localization and Exploration with a Multi-Robot System Using Partial Differential Equation Based Modeling
Wiedemann, Thomas and Shutin, Dmitri and Hernandez Bennetts, Victor and Schaffernicht, Erik and Lilienthal, Achim
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Article: Compressed Voxel-Based Mapping Using Unsupervised Learning
Canelhas, Daniel R. and Schaffernicht, Erik and Stoyanov, Todor and Lilienthal, Achim and Davison, Andrew J.
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Article: Enabling Flow Awareness for Mobile Robots in Partially Observable Environments
Kucner, Tomasz Piotr and Magnusson, Martin and Schaffernicht, Erik and Hernandez Bennetts, Victor Manuel and Lilienthal, Achim J.
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Conference Paper: Exploration and Localization of a Gas Source with MOX Gas Sensorson a Mobile Robot : A Gaussian Regression Bout Amplitude Approach
Vuka, Mikel and Schaffernicht, Erik and Schmuker, Michael and Hernandez Bennetts, Victor and Amigoni, Francesco and Lilienthal, Achim J
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Conference Paper: Improving Gas Dispersal Simulation For Mobile Robot Olfaction : Using Robot-Created Occupancy Maps And Remote Gas Sensors In The Simulation Loop
Fan, Han and Arain, Muhammad Asif and Hernandez Bennetts, Victor and Schaffernicht, Erik and Lilienthal, Achim J.
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Conference Paper: Improving Gas Tomography With Mobile Robots : An Evaluation of Sensing Geometries in Complex Environments
Arain, Muhammad Asif and Fan, Han and Hernandez Bennetts, Victor and Schaffernicht, Erik and Lilienthal, Achim J.
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Conference Paper: Mobile robot multi-sensor unit for unsupervised gas discrimination in uncontrolled environments
Xing, Yuxin and Vincent, Timothy A. and Cole, Marina and Gardner, Julian W. and Fan, Han and Hernandez Bennetts, Victor and Schaffernicht, Erik and Lilienthal, Achim
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Conference Paper: Mobile robots for learning spatio-temporal interpolation models in sensor networks - The Echo State map approach : The Echo State map approach
Schaffernicht, Erik and Hernandez Bennetts, Victor and Lilienthal, Achim
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Conference Paper: Non-Parametric Spatial Context Structure Learning for Autonomous Understanding of Human Environments
Thippur, Akshaya and Stork, Johannes Andreas and Jensfelt, Patric
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Article: Probabilistic Air Flow Modelling Using Turbulent and Laminar Characteristics for Ground and Aerial Robots
Hernandez Bennetts, Victor and Kucner, Tomasz Piotr and Schaffernicht, Erik and Neumann, Patrick P. and Fan, Han and Lilienthal, Achim J.
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2016

Article: Hierarchical fingertip space : A unified framework for grasp planning and in-hand grasp adaptation
Hang, Kaiyu and Li, Miao and Stork, Johannes Andreas and Bekiroglu, Yasemin and Pokorny, Florian T. and Billard, Aude and Kragic, Danica
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Conference Paper: Inferring human body posture information from reflective patterns of protective work garments
Mosberger, Rafael and Schaffernicht, Erik and Andreasson, Henrik and Lilienthal, Achim J.
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Conference Paper: Probabilistic consolidation of grasp experience
Bekiroglu, Yasemin and Damianou, Andreas and Detry, Renaud and Stork, Johannes Andreas and Kragic, Danica and Ek, Carl Henrik
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Article: Reconstructing gas distribution maps via an adaptive sparse regularization algorithm
Zhang, Ye and Gulliksson, M{\aa}rten and Hernandez Bennetts, Victor and Schaffernicht, Erik
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Techreport: Rope through Loop Insertion for Robotic Knotting : A Virtual Magnetic Field Formulation
Marzinotto, Alejandro and Stork, Johannes Andreas
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Conference Paper: Tell me about dynamics! : Mapping velocity fields from sparse samples with Semi-Wrapped Gaussian Mixture Models
Kucner, Tomasz and Magnusson, Martin and Schaffernicht, Erik and Hernandez Bennetts, Victor and Lilienthal, Achim
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Conference Paper: The Right Direction to Smell : Efficient Sensor Planning Strategies for Robot Assisted Gas Tomography
Arain, Muhammad Asif and Schaffernicht, Erik and Hernandez Bennetts, Victor and Lilienthal, Achim J.
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Conference Paper: Towards occupational health improvement in foundries through dense dust and pollution monitoring using a complementary approach with mobile and stationary sensing nodes
Hernandez Bennetts, Victor and Schaffernicht, Erik and Lilienthal, Achim J. and Fan, Han and Kucner, Tomasz Piotr and Andersson, Lena and Johansson, Anders
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Conference Paper: Unsupervised gas discrimination in uncontrolled environments by exploiting density peaks
Fan, Han and Hernandez Bennetts, Victor and Schaffernicht, Erik and Lilienthal, Achim J.
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Incollection: Using Chemical Sensors as 'Noses' for Mobile Robots
Ishida, Hiroshi and Lilienthal, Achim J. and Matsukura, Haruka and Hernandez Bennetts, Victor and Schaffernicht, Erik
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2015

Conference Paper: Bringing Artificial Olfaction and Mobile Robotics Closer Together : An Integrated 3D Gas Dispersion Simulator in ROS
Khaliq, Ali and Pashami, Sepideh and Schaffernicht, Erik and Lilienthal, Achim J. and Hernandez Bennetts, Victor
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Conference Paper: Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots
Arain, Muhammad Asif and Cirillo, Marcello and Hernandez Bennetts, Victor and Schaffernicht, Erik and Trincavelli, Marco and Lilienthal, Achim J.
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Article: Global coverage measurement planning strategies for mobile robots equipped with a remote gas sensor
Arain, Muhammad Asif and Trincavelli, Marco and Cirillo, Marcello and Schaffernicht, Erik and Lilienthal, Achim J.
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Conference Paper: Integrated Simulation of Gas Dispersion and Mobile Sensing Systems
Hernandez Bennetts, Victor and Lilienthal, Achim J. and Schaffernicht, Erik and Ferrari, Silvia and Albertson, John
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Conference Paper: Learning Predictive State Representation for In-Hand Manipulation
Stork, Johannes Andreas and Ek, Carl Henrik and Bekiroglu, Yasemin and Kragic, Danica
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Conference Paper: Learning Predictive State Representations for planning
Stork, Johannes Andreas and Ek, Carl Henrik and Kragic, Danica
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Conference Paper: Learning Predictive State Representations for planning
Stork, Johannes Andreas and Ek, Carl Henrik and Kragic, Danica
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Article: Support relation analysis and decision making for safe robotic manipulation tasks
Mojtahedzadeh, Rasoul and Bouguerra, Abdelbaki and Schaffernicht, Erik and Lilienthal, Achim J
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2014

Conference Paper: A Novel Approach for Gas Discrimination in Natural Environments with Open Sampling Systems
Hernandez Bennetts, Victor and Schaffernicht, Erik and Pomadera Sese, Victor and Lilienthal, Achim J. and Trincavelli, Marco
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Article: Bayesian Spatial Event Distribution Grid Maps for Modeling the Spatial Distribution of Gas Detection Events
Schaffernicht, Erik and Trincavelli, Marco and Lilienthal, Achim J.
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Conference Paper: Combinatorial optimization for hierarchical contact-level grasping
Hang, Kaiyu and Stork, Johannes Andreas and Pokorny, Florian T. and Kragic, Danica
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Article: Combining Non Selective Gas Sensors on a Mobile Robot for Identification and Mapping of Multiple Chemical Compounds
Hernandez Bennetts, Victor and Schaffernicht, Erik and Pomadera Sese, Victor and Lilienthal, Achim J. and Marco, Santiago and Trincavelli, Marco
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Conference Paper: Cooperative grasping through topological object representation
Marzinotto, Alejandro and Stork, Johannes Andreas and Dimarogonas, Dimos V. and Kragic, Danica
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Conference Paper: Hierarchical fingertip space for multi-fingered precision grasping
Hang, Kaiyu and Stork, Johannes Andreas and Kragic, Danica
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Conference Paper: Hierarchical Fingertip Space for Synthesizing Adaptable Fingertip Grasps
Hang, Kaiyu and Li, Miao and Stork, Johannes Andreas and Bekiroglu, Yasemin and Billard, Aude and Kragic, Danica
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Article: Online parameter selection for gas distribution mapping
Hernandez Bennetts, Victor and Trincavelli, Marco and Lilienthal, Achim J. and Schaffernicht, Erik
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Conference Paper: Probabilistic Relational Scene Representation and Decision Making Under Incomplete Information for Robotic Manipulation Tasks
Mojtahedzadeh, Rasoul and Bouguerra, Abdelbaki and Schaffernicht, Erik and Lilienthal, Achim J.
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Conference Paper: Robot Assisted Gas Tomography - Localizing Methane Leaks in Outdoor Environments
Bennetts, Victor Hernandez and Schaffernicht, Erik and Stoyanov, Todor and Lilienthal, Achim J. and Trincavelli, Marco
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Conference Paper: Robot assisted gas tomography : an alternative approach for the detection of fugitive methane emissions
Hernandez Bennetts, Victor and Schaffernicht, Erik and Stoyanov, Todor and Lilienthal, Achim J. and Trincavelli, Marco
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Article: rTREFEX: Reweighting norms for detecting changes in the response of MOX gas sensors
Pashami, Sepideh and Lilienthal, Achim J. and Schaffernicht, Erik and Trincavelli, Marco
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2013

Conference Paper: A topology-based object representation for clasping, latching and hooking
Stork, Johannes Andreas and Pokorny, Florian T. and Kragic, Danica
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Conference Paper: Evolutionary computation based system decomposition with neural networks
Kaltenhaeuser, Robert and Schaffernicht, Erik and Steege, Frank-Florian and Gross, Horst-Michael
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Conference Paper: Grasping Objects with Holes : A Topological Approach
Pokorny, Florian T. and Stork, Johannes Andreas and Kragic, Danica
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Conference Paper: Integrated motion and clasp planning with virtual linking
Stork, Johannes Andreas and Pokorny, Florian T. and Kragic, Danica
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Conference Paper: It's always smelly around here! Modeling the Spatial Distribution of Gas Detection Events with BASED Grid Maps
Lilienthal, Achim J. and Trincavelli, Marco and Schaffernicht, Erik
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Conference Paper: Online parameter selection for gas distribution mapping
Hernandez Bennetts, Victor and Trincavelli, Marco and Lilienthal, Achim J. and Pomadera Sese, Victor and Schaffernicht, Erik
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Conference Paper: Towards Postural Synergies for Caging Grasps
Stork, Johannes Andreas and Pokorny, Florian T. and Kragic, Danica
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Article: TREFEX : trend estimation and change detection in the response of mox gas sensors
Pashami, Sepideh and Lilienthal, Achim J. and Schaffernicht, Erik and Trincavelli, Marco
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2012

Conference Paper: Audio-Based Human Activity Recognition Using Non-Markovian Ensemble Voting
Stork, Johannes Andreas and Spinello, Luciano and Silva, Jens and Arras, Kai O.
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2011

Conference Paper: Audio-Based Human Activity Recognition with Robots
Stork, Johannes Andreas and Silva, Jens and Spinello, Luciano and Arras, Kai O.
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2010

Conference Paper: People tracking with human motion predictions from social forces
Luber, Matthias and Stork, Johannes Andreas and Tipaldi, Gian Diego and Arras, Kai O.
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Pre-print: Data-Driven Model Predictive Control for Food-Cutting
Mitsioni, Ioanna and Karayiannidis, Yiannis and Stork, Johannes Andreas and Kragic, Danica
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Pre-print: Multi-Object Rearrangement with Monte Carlo Tree Search : A Case Study on Planar Nonprehensile Sorting
Song, Haoran and Haustein, Joshua A. and Yuan, Weihao and Hang, Kaiyu and Wang, Michael Yu and Kragic, Danica and Stork, Johannes Andreas
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Pre-print: Object placement planning and optimization for robot manipulators
Haustein, J A and Hang, K and Stork, Johannes Andreas and Kragic, D
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