Interactive Robot Perception & Learning

@inproceedings{heidinger20252handedafforder,

title = {2HandedAfforder: Learning Precise Actionable Bimanual Affordances from Human Videos},

author = {Marvin Heidinger and Snehal Jauhri and Vignesh Prasad and Georgia Chalvatzaki},

year  = {2025},

date = {2025-10-23},

urldate = {2025-10-23},

booktitle = {IEEE/CVF International Conference on Computer Vision (ICCV)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{jin20246dope,

title = {6DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splatting},

author = {Yufeng Jin and Vignesh Prasad and Snehal Jauhri and Mathias Franzius and Georgia Chalvatzaki},

year  = {2025},

date = {2025-10-23},

urldate = {2025-10-23},

booktitle = {IEEE/CVF International Conference on Computer Vision (ICCV)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{donlic2025neural,

title = {Neural Multi-Axis Grasp Generation for Industrial Objects},

author = {Senad Đonlić and Vignesh Prasad and Michael Rupp and Georgia Chalvatzaki},

year  = {2025},

date = {2025-10-02},

booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{moyen2025the,

title = {The Role of Embodiment in Intuitive Whole-Body Teleoperation for Mobile Manipulation},

author = {Sophia Moyen and Rickmer Krohn and Sophie Lueth and Kay Pompetzki and Jan Peters and Vignesh Prasad and Georgia Chalvatzaki},

year  = {2025},

date = {2025-10-02},

booktitle = {2025 IEEE-RAS 24th International Conference on Humanoid Robots},

organization = {IEEE-RAS},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{krohn2025self,

title = {Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learning},

author = {Rickmer Krohn and Vignesh Prasad and Gabriele Tiboni and Georgia Chalvatzaki},

year  = {2025},

date = {2025-09-19},

booktitle = {European Workshop on Reinforcement Learning (EWRL)},

journal = {European Workshop on Reinforcement Learning (EWRL)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{hahne2024transition,

title = {Transition State Clustering for Interaction Segmentation and Learning},

author = {Fabian Hahne and Vignesh Prasad and Alap Kshirsagar and Dorothea Koert and Ruth Maria Stock-Homburg and Jan Peters and Georgia Chalvatzaki},

year  = {2024},

date = {2024-01-01},

booktitle = {Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction},

pages = {512–516},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{goksu2024kinematically,

title = {Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers},

author = {Yasemin Göksu and Antonio De Almeida Correia and Vignesh Prasad and Alap Kshirsagar and Dorothea Koert and Jan Peters and Georgia Chalvatzaki},

year  = {2024},

date = {2024-01-01},

booktitle = {Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction},

pages = {497–501},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{jauhri2024active,

title = {Active-perceptive motion generation for mobile manipulation},

author = {Snehal Jauhri and Sophie Lueth and Georgia Chalvatzaki},

year  = {2024},

date = {2024-01-01},

booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {1413–1419},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{lach2023tactile,

title = {Tactile Sensing for Stable Object Placing},

author = {Luca Michael Lach and Niklas Funk and Robert Haschke and Helge Ritter and Jan Peters and Georgia Chalvatzaki},

year  = {2023},

date = {2023-01-01},

booktitle = {TouchProcessing workshop@ NeurIPS},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{le2023hierarchical,

title = {Hierarchical policy blending as optimal transport},

author = {An Thai Le and Kay Hansel and Jan Peters and Georgia Chalvatzaki},

year  = {2023},

date = {2023-01-01},

booktitle = {Learning for Dynamics and Control Conference},

pages = {797–812},

organization = {PMLR},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{hansel2023hierarchical,

title = {Hierarchical policy blending as inference for reactive robot control},

author = {Kay Hansel and Julen Urain and Jan Peters and Georgia Chalvatzaki},

year  = {2023},

date = {2023-01-01},

booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {10181–10188},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{liu2023safe,

title = {Safe reinforcement learning of dynamic high-dimensional robotic tasks: navigation, manipulation, interaction},

author = {Puze Liu and Kuo Zhang and Davide Tateo and Snehal Jauhri and Zhiyuan Hu and Jan Peters and Georgia Chalvatzaki},

year  = {2023},

date = {2023-01-01},

booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {9449–9456},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{lach2023placing,

title = {Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing},

author = {Luca Lach and Niklas Funk and Robert Haschke and Séverin Lemaignan and Helge Joachim Ritter and Jan Peters and Georgia Chalvatzaki},

year  = {2023},

date = {2023-01-01},

booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {8964–8971},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{liu2022auto,

title = {Auto (mated) nomous Assembly},

author = {Yuxi Liu and Boris Belousov and Niklas Funk and Georgia Chalvatzaki and Jan Peters and Oliver Tessmann},

year  = {2022},

date = {2022-01-01},

booktitle = {International Conference on Trends on Construction in the Post-Digital Era},

pages = {167–181},

organization = {Springer International Publishing Cham},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{schneider2022active,

title = {Active exploration for robotic manipulation},

author = {Tim Schneider and Boris Belousov and Georgia Chalvatzaki and Diego Romeres and Devesh K Jha and Jan Peters},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {9355–9362},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{prasad2022mild,

title = {Mild: multimodal interactive latent dynamics for learning human-robot interaction},

author = {Vignesh Prasad and Dorothea Koert and Ruth Stock-Homburg and Jan Peters and Georgia Chalvatzaki},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)},

pages = {472–479},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{d2022prioritized,

title = {Prioritized sampling with intrinsic motivation in multi-task reinforcement learning},

author = {Carlo D'Eramo and Georgia Chalvatzaki},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 International Joint Conference on Neural Networks (IJCNN)},

pages = {1–8},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{asmanis2022semantic,

title = {A Semantic Enhancement of Unified Geometric Representations for Improving Indoor Visual SLAM},

author = {Ioannis Asmanis and Panagiotis Mermigkas and Georgia Chalvatzaki and Jan Peters and Petros Maragos},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 19th International Conference on Ubiquitous Robots (UR)},

pages = {288–294},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{liu2022regularized,

title = {Regularized deep signed distance fields for reactive motion generation},

author = {Puze Liu and Kuo Zhang and Davide Tateo and Snehal Jauhri and Jan Peters and Georgia Chalvatzaki},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {6673–6680},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{funk2022graph,

title = {Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery},

author = {Niklas Funk and Svenja Menzenbach and Georgia Chalvatzaki and Jan Peters},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {10215–10222},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{funk2022learn2assemble,

title = {Learn2assemble with structured representations and search for robotic architectural construction},

author = {Niklas Funk and Georgia Chalvatzaki and Boris Belousov and Jan Peters},

year  = {2022},

date = {2022-01-01},

booktitle = {Conference on Robot Learning},

pages = {1401–1411},

organization = {PMLR},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{efstathiou2021deep,

title = {Deep Leg Tracking by Detection and Gait Analysis in 2D Range Data for Intelligent Robotic Assistants},

author = {Danai Efstathiou and Georgia Chalvatzaki and Athanasios Dometios and Dionisios Spiliopoulos and Costas S Tzafestas},

year  = {2021},

date = {2021-01-01},

booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {2657–2662},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{li2021directed,

title = {Directed acyclic graph neural network for human motion prediction},

author = {Qin Li and Georgia Chalvatzaki and Jan Peters and Yong Wang},

year  = {2021},

date = {2021-01-01},

booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {3197–3204},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{morgan2021model,

title = {Model predictive actor-critic: Accelerating robot skill acquisition with deep reinforcement learning},

author = {Andrew S Morgan and Daljeet Nandha and Georgia Chalvatzaki and Carlo D'92Eramo and Aaron M Dollar and Jan Peters},

year  = {2021},

date = {2021-01-01},

booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {6672–6678},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{tosatto2021contextual,

title = {Contextual latent-movements off-policy optimization for robotic manipulation skills},

author = {Samuele Tosatto and Georgia Chalvatzaki and Jan Peters},

year  = {2021},

date = {2021-01-01},

booktitle = {2021 IEEE international conference on robotics and automation (ICRA)},

pages = {10815–10821},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}