Publications

EASE-related Publications

Human Cognition

[1] Moritz Tenorth, Fernando De la Torre, Michael Beetz, "Learning Probability Distributions over Partially-Ordered Human Everyday Activities", In IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pp. 4539-4544, 2013. [bib] [pdf]
[2] Sebastian Albrecht, Karinne Ramirez-Amaro, Federico Ruiz-Ugalde, David Weikersdorfer, Marion Leibold, Michael Ulbrich, Michael Beetz, "Imitating human reaching motions using physically inspired optimization principles", In 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, 2011. [bib]
[3] Daniel Nyga, Moritz Tenorth, Michael Beetz, "How-Models of Human Reaching Movements in the Context of Everyday Manipulation Activities", In IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 2011. [bib] [pdf]
[4] Michael Beetz, Moritz Tenorth, Dominik Jain, Jan Bandouch, "Towards Automated Models of Activities of Daily Life", In Technology and Disability, IOS Press, vol. 22, no. 1-2, pp. 27-40, 2010. [bib] [pdf]
[5] Moritz Tenorth, Jan Bandouch, Michael Beetz, "The TUM Kitchen Data Set of Everyday Manipulation Activities for Motion Tracking and Action Recognition", In IEEE International Workshop on Tracking Humans for the Evaluation of their Motion in Image Sequences (THEMIS), in conjunction with ICCV2009, 2009. [bib] [pdf]
[6] Freek Stulp, Erhan Oztop, Peter Pastor, Michael Beetz, Stefan Schaal, "Compact Models of Motor Primitive Variations for Predictable Reaching and Obstacle Avoidance", In 9th IEEE-RAS International Conference on Humanoid Robots, 2009. [bib]

Cognitive Capabilities

[7] S. G. Brunner, P. Lehner, M. J. Schuster, S. Riedel, R. Belder, D. Leidner, A. Wedler, M. Beetz, F. Stulp, "Design, Execution, and Postmortem Analysis of Prolonged Autonomous Robot Operations", In IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 1056-1063, 2018. [bib] [doi]
[8] Daniel Nyga, Michael Beetz, "Cloud-based Probabilistic Knowledge Services for Instruction Interpretation", Chapter in Robotics Research, Springer, vol. 2, pp. 649-664, 2018. [bib]
[9] Christian Freksa, Jasper van de Ven, Diedrich Wolter, "Formal representation of qualitative direction", In International Journal of Geographical Information Science, Taylor & Francis, vol. 0, no. 0, pp. 1-21, 2018. [bib] [pdf] [doi]
[10] Fereshta Yazdani, Matthias Scheutz, Michael Beetz, "Cognition-enabled Task Interpretation for Human-Robot Teams in a Simulation-based Search and Rescue Mission (Extended Abstract)", In Proceedings of the 2017 International Conference on Autonomous Agents, 2017. [bib]
[11] Mihai Pomarlan, Daniel Nyga, Mareike Picklum, Sebastian Koralewski, Michael Beetz, "Deeper Understanding of Vague Instructions through Simulated Execution (Extended Abstract)", In Proceedings of the 2017 International Conference on Autonomous Agents & Multiagent Systems, International Foundation for Autonomous Agents and Multiagent Systems, 2017. [bib]
[12] Daniel Nyga, Mareike Picklum, Sebastian Koralewski, Michael Beetz, "Instruction Completion through Instance-based Learning and Semantic Analogical Reasoning", In International Conference on Robotics and Automation (ICRA), Singapore, 2017. [bib]
[13] Daniel Nyga, Mareike Picklum, Michael Beetz, "What No Robot Has Seen Before -- Probabilistic Interpretation of Natural-language Object Descriptions", In International Conference on Robotics and Automation (ICRA), Singapore, 2017. [bib]
[14] Michael Beetz, Daniel Beßler, Gayane Kazhoyan, "Robotic Agents that Know What They are Doing", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. [bib]
[15] Jakob Suchan, Mehul Bhatt, Przemyslaw Andrzej Walega, Carl P. L. Schultz, "Visual Explanation by High-Level Abduction: On Answer-Set Programming Driven Reasoning about Moving Objects", In CoRR, vol. abs/1712.00840, 2017. [bib] [pdf]
[16] Jakob Suchan, Mehul Bhatt, "Commonsense Scene Semantics for Cognitive Robotics: Towards Grounding Embodied Visuo-Locomotive Interactions", In CoRR, vol. abs/1709.05293, 2017. [bib] [pdf]
[17] Daniel Leidner, Wissam Bejjani, Alin Albu-Schäffer, Michael Beetz, "Robotic Agents Representing, Reasoning, and Executing Wiping Tasks for Daily Household Chores", In Proceedings of the 2016 International Conference on Autonomous Agents & Multiagent Systems, pp. 1006-1014, 2016. [bib]
[18] David Vernon, Michael Beetz, Giulio Sandini, "Prospection in Cognition: The Case for Joint Episodic-Procedural Memory in Cognitive Robotics", In Frontiers in Robotics and AI, vol. 2, no. 19, 2015. [bib] [pdf] [doi]
[19] Daniel Nyga, Michael Beetz, "Everything Robots Always Wanted to Know about Housework (But were afraid to ask)", In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 2012. [bib] [pdf]
[20] Michael Beetz, Ulrich Klank, Ingo Kresse, Alexis Maldonado, Lorenz Mösenlechner, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, "Robotic Roommates Making Pancakes", In 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, 2011. [bib] [pdf]
[21] Lorenz Mösenlechner, Nikolaus Demmel, Michael Beetz, "Becoming Action-aware through Reasoning about Logged Plan Execution Traces", In IEEE/RSJ International Conference on Intelligent RObots and Systems., Taipei, Taiwan, pp. 2231-2236, 2010. [bib]
[22] Michael Beetz, Lorenz Mösenlechner, Moritz Tenorth, "CRAM -- A Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments", In IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, pp. 1012-1017, 2010. [bib] [pdf]

Knowledge

[23] A. K. Bozcuoğlu, G. Kazhoyan, Y. Furuta, S. Stelter, M. Beetz, K. Okada, M. Inaba, "The Exchange of Knowledge Using Cloud Robotics", In IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 1072-1079, 2018. [bib] [doi]
[24] Asil Kaan Bozcuoglu, Gayane Kazhoyan, Yuki Furuta, Simon Stelter, Michael Beetz, Kei Okada, Masayuki Inaba, "The Exchange of Knowledge using Cloud Robotics", In International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018. Nominated for the Cognitive Award and the Service Award [bib]
[25] Asil Kaan Bozcuoglu, Gayane Kazhoyan, Yuki Furuta, Simon Stelter, Michael Beetz, Kei Okada, Masayuki Inaba, "The Exchange of Knowledge using Cloud Robotics", In Robotics and Automation Letters, IEEE, vol. 3, no. 2, pp. 1072-1079, 2018. [bib] [doi]
[26] Daniel Beßler, Mihai Pomarlan, Michael Beetz, "OWL-enabled Assembly Planning for Robotic Agents", In Proceedings of the 2018 International Conference on Autonomous Agents, 2018. Accepted for publication [bib]
[27] Jakob Suchan, Mehul Bhatt, "Deep Semantic Abstractions of Everyday Human Activities", In ROBOT 2017: Third Iberian Robotics Conference, Springer International Publishing, Cham, pp. 477-488, 2018. [bib]
[28] Fereshta Yazdani, Matthias Scheutz, Michael Beetz, "Guidelines for Improving Task-based Natural Language Understanding in Human-Robot Rescue Teams", In Proceedings of the 2017 8th IEEE International Conference on Cognitive Infocommunications (CogInfoCom), Debrecen, Hungary, 2017. [bib]
[29] Jan Winkler, Asil Kaan Bozcuoglu, Mihai Pomarlan, Michael Beetz, "Task Parametrization through Multi-modal Analysis of Robot Experiences (Extended Abstract)", In Proceedings of the 2017 International Conference on Autonomous Agents, Sao Paulo, Brazil, 2017. [bib]
[30] M. Beetz, D. Beßler, J. Winkler, J.-H. Worch, F. Bálint-Benczédi, G. Bartels, A. Billard, A. K. Bozcuoglu, Z. Fang, N. Figueroa, Andrei Haidu, H. Langer, A. Maldonado, A. Pais, M. Tenorth, T. Wiedemeyer, "Open Robotics Research Using Web-based Knowledge Services", In International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016. [bib] [pdf]
[31] Ferenc Bálint-Benczédi, Patrick Mania, Michael Beetz, "Scaling Perception Towards Autonomous Object Manipulation --- In Knowledge Lies the Power", In International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016. [bib]
[32] Vladimir Herdt, Hoang M. Le, Daniel Große, Rolf Drechsler, "ParCoSS: Efficient Parallelized Compiled Symbolic Simulation", In Computer Aided Verification, 2016. [bib]
[33] Joachim Clemens, Kerstin Schill, "Extended Kalman filter with manifold state representation for navigating a maneuverable melting probe", In , 2016. [bib]
[34] Nicholas H Kirk, Karinne Ramírez-Amaro, Emmanuel Dean-León, Matteo Saveriano, Gordon Cheng, "Online prediction of activities with structure: Exploiting contextual associations and sequences", In 15th IEEE-RAS International Conference on Humanoid Robots, pp. 744-749, 2015. [bib]
[35] Benjamin Walther-Franks, Jan Smeddinck, Peter Szmidt, Andrei Haidu, Michael Beetz, Rainer Malaka, "Robots, Pancakes, and Computer Games: Designing Serious Games for Robot Imitation Learning", In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems (CHI '15), New York, NY, USA, 2015. [bib] [pdf]
[36] Lorenz Mösenlechner, Michael Beetz, "Fast Temporal Projection Using Accurate Physics-Based Geometric Reasoning", In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pp. 1821-1827, 2013. [bib]
[37] Jan Winkler, Georg Bartels, Lorenz Mösenlechner, Michael Beetz, "Knowledge Enabled High-Level Task Abstraction and Execution", In First Annual Conference on Advances in Cognitive Systems, vol. 2, no. 1, Palo Alto, CA, pp. 131-148, 2012. [bib] [pdf]
[38] Lorenz Mösenlechner, Michael Beetz, "Parameterizing Actions to have the Appropriate Effects", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011. [bib]

Perception

[39] Ferenc Balint-Benczedi, Zoltan-Csaba Marton, Maximilian Durner, Michael Beetz, "Storing and Retrieving Perceptual Episodic Memories for Long-term Manipulation Tasks", In Proceedings of the 2017 IEEE International Conference on Advanced Robotics (ICAR), Hong-Kong, China, 2017. Finalist for Best Paper Award [bib]
[40] Jakob Suchan, Mehul Bhatt, "Semantic Question-Answering with Video and Eye- Tracking Data – AI Foundations for Human Visual Perception Driven Cognitive Film Studies", In IJCAI 2016: 25th International Joint Conference on Artificial Intelligence, New York City, USA, 2016. [bib]
[41] Michael Beetz, Ferenc Balint-Benczedi, Nico Blodow, Daniel Nyga, Thiemo Wiedemeyer, Zoltan-Csaba Marton, "RoboSherlock: Unstructured Information Processing for Robot Perception", In IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, 2015. Best Service Robotics Paper Award [bib] [pdf]
[42] Karinne Ramirez-Amaro, Michael Beetz, Gordon Cheng, "Transferring Skills to Humanoid Robots by Extracting Semantic Representations from Observations of Human Activities", In Artificial Intelligence Journal, 2015. [bib]
[43] Thiemo Wiedemeyer, Ferenc Bálint-Benczédi, Michael Beetz, "Pervasive 'Calm' Perception for Autonomous Robotic Agents", In Proceedings of the 2015 International Conference on Autonomous Agents and Multiagent Systems, International Foundation for Autonomous Agents and Multiagent Systems, Richland, SC, pp. 871-879, 2015. [bib] [pdf]
[44] Karinne Ramirez-Amaro, Michael Beetz, Gordon Cheng, "Understanding the intention of human activities through semantic perception: observation, understanding and execution on a humanoid robot", In Advanced Robotics, vol. 29, no. 5, pp. 345-362, 2015. [bib]
[45] Karinne Ramirez-Amaro, Emmanuel Dean-Leon, Gordon Cheng, "Robust Semantic Representations for Inferring Human Co-manipulation Activities even with Different Demonstration Styles", In 15th IEEE-RAS International Conference on Humanoid Robots, Seoul, Korea, 2015. [bib]
[46] Daniel Nyga, Ferenc Bálint-Benczédi, Michael Beetz, "PR2 Looking at Things: Ensemble Learning for Unstructured Information Processing with Markov Logic Networks", In IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014. [bib] [pdf]
[47] Moritz Tenorth, Stefan Profanter, Ferenc Balint-Benczedi, Michael Beetz, "Decomposing CAD Models of Objects of Daily Use and Reasoning about their Functional Parts", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo Big Sight, Japan, pp. 5943-5949, 2013. [bib] [pdf]
[48] Zoltan-Csaba Marton, Florian Seidel, Ferenc Balint-Benczedi, Michael Beetz, "Ensembles of Strong Learners for Multi-cue Classification", In Pattern Recognition Letters (PRL), Special Issue on Scene Understandings and Behaviours Analysis, 2012. [bib] [pdf]

Manipulation

[49] Simon Stelter, Georg Bartels, Michael Beetz, "Multidimensional Time Series Shapelets Reliably Detect and Classify Contact Events in Force Measurements of Wiping Actions", In Robotics and Automation Letters, IEEE, 2018. [bib] [doi]
[50] Pawel Gajewski, Paulo Ferreira, Georg Bartels, Chaozheng Wang, Frank Guerin, Bipin Indurkhya, Michael Beetz, Bartlomiej Sniezynski, "Adapting Everyday Manipulation Skills to Varied Scenarios", In arXiv preprint arXiv:1803.02743, 2018. [bib]
[51] Pawel Gajewski, Paulo Ferreira, Georg Bartels, Chaozheng Wang, Frank Guerin, Bipin Indurkhya, Michael Beetz, Bartlomiej Sniezynski, "Adapting Everyday Manipulation Skills to Varied Scenarios", In CoRR, vol. abs/1803.02743, 2018. [bib] [pdf]
[52] Simon Stelter, Georg Bartels, Michael Beetz, "Multidimensional Time Series Shapelets Reliably Detect and Classify Contact Events in Force Measurements of Wiping Actions", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. Finalist for the Best Cognitive Robotics Paper Award. [bib]
[53] Daniel Leidner, Alexander Dietrich, Michael Beetz, Alin Albu-Schäffer, "Knowledge-Enabled Parameterization of Whole-Body Control Strategies for Compliant Service Robots", In Autonomous Robots (AURO): Special Issue on Whole-Body Control of Contacts and Dynamics for Humanoid Robots, Springer US, 2015. [bib]
[54] Florian Petit, Alexander Dietrich, Alin Albu-Schäffer, "Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots.", In IEEE Robot. Automat. Mag., vol. 22, no. 4, pp. 37-51, 2015. [bib] [pdf]
[55] Alexander Dietrich, Kristin Bussmann, Florian Petit, Paul Kotyczka, Christian Ott, Boris Lohmann, Alin Albu-Schäffer, "Whole-body impedance control of wheeled mobile manipulators: Stability analysis and experiments on the humanoid robot Rollin' Justin", In Autonomous Robots, 2015. doi:10.1007/s10514-015-9438-z [bib]
[56] Lars Kunze, Michael Beetz, "Envisioning the qualitative effects of robot manipulation actions using simulation-based projections", In Artificial Intelligence Journal (AIJ), Special Issue on AI and Robotics, 2015. [bib]
[57] Jan Winkler, Moritz Tenorth, Asil Kaan Bozcuoglu, Michael Beetz, "CRAMm -- Memories for Robots Performing Everyday Manipulation Activities", In Advances in Cognitive Systems, vol. 3, pp. 47-66, 2014. [bib]
[58] Moritz Tenorth, Georg Bartels, Michael Beetz, "Knowledge-based Specification of Robot Motions", In Proceedings of the European Conference on Artificial Intelligence (ECAI), 2014. [bib] [pdf]
[59] Matthias Schröder, Jonathan Maycock, Helge Ritter, Mario Botsch, "Real-time hand tracking using synergistic inverse kinematics", In Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp. 5447-5454, 2014. [bib]

Cognitive Architectures & Systems

[60] R. Drechsler, D. Große, "Verifying next generation electronic systems", In 2017 International Conference on Infocom Technologies and Unmanned Systems (Trends and Future Directions) (ICTUS), pp. 6-10, 2017. [bib] [doi]
[61] M. Walter, R. Wille, D. Große, F. S. Torres, R. Drechsler, "An exact method for design exploration of quantum-dot cellular automata", In 2018 Design, Automation Test in Europe Conference Exhibition (DATE), pp. 503-508, 2018. [bib] [doi]
[62] Michael Beetz, Daniel Beßler, Andrei Haidu, Mihai Pomarlan, Asil Kaan Bozcuoglu, Georg Bartels, "KnowRob 2.0 -- A 2nd Generation Knowledge Processing Framework for Cognition-enabled Robotic Agents", In International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018. Accepted for publication [bib]
[63] Asil Kaan Bozcuoglu, Michael Beetz, "A Cloud Service for Robotic Mental Simulations", In International Conference on Robotics and Automation (ICRA), Singapore, 2017. [bib]
[64] John Bateman, Michael Beetz, Daniel Beßler, Asil Kaan Bozcuoglu, Mihai Pomarlan, "Heterogeneous Ontologies and Hybrid Reasoning for Service Robotics: The EASE Framework", In Third Iberian Robotics Conference, Sevilla, Spain, 2017. [bib]
[65] Moritz Tenorth, Jan Winkler, Daniel Beßler, Michael Beetz, "Open-EASE -- A Cloud-Based Knowledge Service for Autonomous Learning", In KI -- Künstliche Intelligenz, Springer Berlin Heidelberg, 2015. [bib] [doi]
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