Interactive Robot Perception & Learning

Sophie Lueth

Sophie Lueth joined the PEARL group at TU Darmstadt as a Research Assistant in September 2024, supervised by Prof. Georgia Chalvatzaki. Her research focuses on safe mobile manipulation in household environments.

Sophie holds a Bachelor’s degree in Electrical Engineering and Information Technology and a Master’s degree in Autonomous Systems, both from the Technical University Darmstadt, working on Active Perception and Whole-Body Teleoperation for mobile manipulators. For her Master’s Thesis, she visited the IPRL lab at Stanford University under the supervision of Prof. Jeannette Bohg and Rika Antonova.

If you would like to collaborate, or are interested in a thesis or Hiwi job, please reach out to me via mail!

Research Interests

Mobile Manipulation, Multimodal Robot Learning, Whole-Body Manipulation, Safety

Key references


S. Jauhri*, C. Maurer*, S. Lueth, G. Chalvatzaki (2026).
UniFField: A Generalizable Unified Neural Feature Field for Visual, Semantic, and Spatial Uncertainties in Any Scene,
in IEEE International conference on Robotics and Automation (ICRA) 2026.
Webpage Paper Code (Coming soon)


H. Tong*, Y. Zhang*, S. Lueth, G. Chalvatzaki (2026).
Adaptive Diffusion Constrained Sampling for Bimanual Robot Manipulation,
in IEEE International conference on Robotics and Automation (ICRA) 2026.
Webpage Paper

Moyen, S*.; Krohn, R*.; Lueth, S*.; Pompetzki, K.; Peters, J.; Prasad, V.; Chalvatzaki G. (2025).
The Role of Embodiment in Intuitive Whole-Body Teleoperation for Mobile Manipulation,
in 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids).
Webpage Paper

Lueth, S.; Chalvatzaki G. (2024).
Augmented Action-space Whole-Body Teleoperation of Mobile Manipulation Robots,
in Workshop on Whole-body Control and Bimanual Manipulation: Applications in Humanoids and Beyond at CoRL 2024.
Webpage Paper

Jauhri, S*.; Lueth, S*.; Chalvatzaki G. (2024).
ActPerMoMa: Active-Perceptive Motion Generation for Mobile Manipulation,
in 2024 IEEE International Conference on Robotics and Automation (ICRA).
Webpage Paper Code

Contact:

> Email: sophie.lueth<at>tu-darmstadt.de
> Linkedin
> Postal address:
TU Darmstadt, FG PEARL,
Landwehrstraße 50a, Darmstadt, 64293
Office. Room 15, Hessian AI (S4|23)