
Lifelong localization in changing environments
Gian Diego Tipaldi, Daniel MeyerDelius, and Wolfram Burgard International Journal of Robotics Research (IJRR), 32:1662–1678 2013 http://ijr.sagepub.com/cgi/content/abstract/32/14/1662
tipaldi13ijrr.pdf


On the representation of anthropomorphic robot hands: Shape versus function
R. de Souza, A. Bernardino, J. SantosVictor, and A. Billard Proceedings of the 12th IEEERAS International Conference on Humanoid Robots (Humanoids), pp. 791–798 2012
souza12humanoids.pdf


Multi object detection and pose estimation in 3d point clouds: A fast gridbased Bayesian filter
R. P. Figueiredo, P. Moreno, A. Bernardino, and J. SantosVictor Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4250–4255 2013
figueiredo13icra.pdf


Fast 3D object recognition of rotationally symmetric objects
R. Figueiredo, P. Moreno, and A. Bernardino Pattern Recognition and Image Analysis (J. M. Sanches, M. Luisa, and J. S. Cardoso, eds.), vol. 7887 of Lecture Notes in Computer Science, pp. 125–132, Springer Berlin Heidelberg 2013
figueiredo13ibpria.pdf


Efficient Sequential Clamping for Lifted Message Passing
F. Hadiji and B. Ahmadi and K. Kersting In Proceedings of the 34th Annual German Conference on Artificial Intelligence (K11) 2011
hadiji11ki.pdf


Lidarbased teachandrepeat of mobile robot trajectories
C. Sprunk, G.D. Tipaldi, A. Cherubini, and W. Burgard In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan 2013
sprunk13iros.pdf


Efficient gridbased spatial representations for robot navigation in dynamic environments
B. Lau, C. Sprunk, and W. Burgard Robotics and Autonomous Systems, vol. 61, no. 10 2013
lau13ras.pdf


Interactive Perception for Learning the Dynamics of Articulated Objects
F. Endres, J. Trinkle, and W. Burgard In the Proceedings of the ICRA 2013 Mobile Manipulation Workshop on Interactive Perception 2013
endres13icra_ws.pdf


Learning the dynamics of doors for robotic manipulation
F. Endres, J. Trinkle, and W. Burgard In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2013
endres13iros.pdf


Reduce and ReLift: Bootstrapped Lifted Likelihood Maximization for MAP
F. Hadiji and K. Kersting In Proceedings of the Twenty–Seventh AAAI Conference on Artificial Intelligence (AAAI–13) 2013
hadiji13aaai.pdf


Exploiting Symmetries for Scaling Loopy Belief Propagation and Relational Training
B. Ahmadi, K. Kersting, M. Mladenov, and S. Natarajan Machine Learning Journal 2013
ahmadi13mlj.pdf


Pairwise Markov Logic
D. Fierens, K. Kersting, J. Davis, J. Chen, and M. Mladenov Post–Proceedings of the 22nd International Conference on Inductive Logic Programming (ILP–2012) 2013
fierens12ilp_pairwise.pdf


Learning Relational Probabilistic Models from Partially Observed Data  Opening the ClosedWorld Assumption
T. Khot, S. Natarajan, K. Kersting, and J. Shavlik Post–Proceedings of the 23nd International Conference on Inductive Logic Programming (ILP–2013) 2013
khot13ilp_open.pdf


Coinciding Walk Kernels
M. Neumann, R. Garnett, and K. Kersting Working Notes of the International Workshop on Mining and Learning with Graphs (MLG 2013) at KDD 2013 2013
neumann13mlg_kernels.pdf


Graph Kernels for Object Category Prediction in TaskDependent Robot Grasping
M. Neumann, P. Moreno, L. Antanas, R. Garnett, and K. Kersting Working Notes of the International Workshop on Mining and Learning with Graphs (MLG 2013) at KDD 2013 2013
neumann2013mlg_grasping.pdf


Accelerating Imitation Learning in Relational Domains via Transfer by Initialization
S. Natarajan, P. Odom, S. Joshi, T. Khot, K. Kersting, and P. Tadepalli Post–Proceedings of the 23nd International Conference on Inductive Logic Programming (ILP–2013) 2013
natarajan13ilp_transfer.pdf


Dimension Reduction via Color Refinement
M. Grohe, K. Kersting, M. Mladenov, and E. Selman CoRR 2013
grohe13arxiv_fa.pdf


Robust multihypothesis 3d object pose tracking
G. Chliveros, M. Pateraki, and P. Trahanias International Conference on Computer Vision Systems (ICVS) 2013
chliveros13icvs.pdf


Visual humanrobot communication in social settings
M. Pateraki, M. Sigalas, G. Chliveros, and P. Trahanias Workshop on Semantics, Identification and Control of RobotHumanEnvironment Interaction, held within the IEEE International Conference on Robotics and Automation (ICRA) 2013
pateraki13icraws.pdf


A compliant hand based on a novel pneumatic actuator
R. Deimel and O. Brock Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2013
deimel13icra.pdf


Towards Bayesian grasp optimization with wrench space analysis
F. Veiga and A. Bernardino IROS 2012 Workshop: Beyond Robot Grasping  Modern Approaches for Learning Dynamic Manipulation 2012
veiga12irosws.pdf


Octomap: An efficient probabilistic 3D mapping framework based on octrees
A. Hornung, K. M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard Autonomous Robots, 2013. In Press.
hornung13auro.pdf


Augmentedsvm: Automatic space partition ing for combining multiple nonlinear dynamics
A. Shukla and A. Billard Advances in Neural Information Processing Systems 25 (P. Bartlett, F. Pereira, C. Burges, L. Bottou, and K. Weinberger, eds.), pp. 1025–1033 2012
shukla12nips.pdf


Reaching and grasping kitchenware objects
R. Figueiredo, A. Shukla, D. Aragao, P. Moreno, A. Bernardino, J. SantosVictor, and A. Billard In Proceedings of International Symposium on System Integra tion (SII) 2012
figueiredo12sii.pdf


Lifted probabilistic inference
K. Kersting In Proceedings of 20th European Conference on Artificial Intelligence (ECAI–2012) (L. D. Raedt, C. Bessiere, D. Dubois, P. Doherty, P. Frasconi, F. Heintz, and P. Lucas, eds.), (Montpellier, France), ECCAI 2012
kersting2012ecai_faia.pdf


Efficiently learning to hash proportional data
Z. Xu, K. Kersting, and C. Bauckhage In Proceedings of the IEEE Conference on Data Mining (ICDM–2012) 2012
xu12icdm.pdf


Exploration in relational domains for model–based reinforcement learning
T. Lang, M. Toussaint, and K. Kersting Journal of Machine Learning Re search (JMLR), vol. 13(Dec), pp. 3691–3734 2012
lang12jmlr.pdf


Symbolic dynamic programming for continuous state and observation pomdps
Z. Zamani, S. Sanner, P. Poupart, and K. Kersting Advances in Neural Information Processing Systems 26 (NIPS–2012) 2012
zamani12nips.pdf


On the position accuracy of mobile robot localization based on particle filters combined with scan matching
J. Roewekaemper, C. Sprunk, G.D. Tipaldi, C. Stachniss, P. Pfaff, and W. Burgard In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2012
roewekaemper12iros.pdf


Nonparametric Bayesian models for unsupervised scene analysis and reconstruction
Dominik Joho, Gian Diego Tipaldi, Nikolas Engelhard, Cyrill Stachniss, and Wolfram Burgard In Proceedings of Robotics: Science and Systems (RSS) 2012
joho12rss.pdf


Structure learning with hidden data in relational domains
T. Khot, S. Natarajan, K. Kersting, and J. Shavlik In ICML2012 Workshop on Statistical Relational Learning (SRL) 2012
khot12srl.pdf


Lifted parameter learning in relational models
B. Ahmadi, K. Kersting, and S. Natarajan In ICML2012 Workshop on Statistical Relational Learning (SRL) 2012
ahmadi12srl.pdf


Learning to grasp from point clouds
P. Moreno, J. Hörnstein, and J. SantosVictor Tech. Rep. VislabTR001/2011, Department of Electrical and Computers Engineering, Instituto Superior Técnico, Portugal, 2011
moreno11tr.pdf


Active learning of visual descriptors for grasping using nonparametric smoothed beta distributions
L. Montesano and M. Lopes Robotics and Autonomous Systems, vol. 60, no. 3, pp. 452–462 2012
montesano12ras.pdf


Visual tracking of hands, faces and facial features as a basis for humanrobot communication
M. Pateraki, H. Baltzakis, and P. Trahanias in Proc. of the Workshop on Visual Tracking and Omnidirectional Vi sion, held within the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Fransisco, USA 2011
pateraki11irosws.pdf


Visual estimation of pointed targets for robot guidance via fusion of face pose and hand orientation
M. Pateraki, H. Baltzakis, and P. Trahanias In 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, held within the 13th IEEE International Conference on Computer Vision (ICCV), pp. 1060 –1067 2011
pateraki11iccvws.pdf


Using dempsters rule of combination to robustly estimate pointed targets
M. Pateraki, H. Baltzakis, and P. Trahanias In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, USA 2012
pateraki12icra.pdf


Visual tracking of hands, faces and facial features of multiple persons
H. Baltzakis, M. Pateraki, and P. Trahanias Machine Vision and Ap plications, pp. 1–17 2012
baltzakis12mva.pdf


On Continuous Distributions and Parameter Estimation in Probabilistic Logic Programs
B. Gutmann PhD thesis, Informatics Section, Depart ment of Computer Science, Faculty of Engineering Science. De Raedt, Luc (supervisor). 2011
gutmann11thesis.pdf


Stochastic Relational Processes and Models: Learning and Rea soning
I. Thon PhD thesis, Informatics Section, Department of Computer Sci ence, Faculty of Engineering Science.De Raedt, Luc (supervisor) 2011
thon11thesis.pdf


Coupled dynamical system based armhand grasping model for learning fast adaptation strategies under realtime perturbations
A. Shukla and A. Billard Robotics and Autonomous Systems, vol. 60, pp. 424–440 2012
ashwini12ras.pdf


Robot learning from failed demonstra tions
D. Grollman and A. Billard International Journal of Social Robotics 2012
grollman12ijsr.pdf


Propagation kernels for partially labeled graphs
M. Neumann, R. Garnett, P. Moreno, N. Patricia, and K. Kersting In ICML Work shop on Mining and Learning with Graphs (MLG) 2012
neumann12icmlws.pdf


Efficient Graph Kernels by Randomization
M. Neumann, N. Patricia, R. Garnett, and K. Kersting In Proceedings of the European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECML–PKDD) 2012
neumann12ecmlpkdd.pdf


Lifted online training of re lational models with stochastic gradient methods
B. Ahmadi, K. Kersting, and S. Natarajan In Proceedings of the European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECML PKDD) 2012
ahmadi12ecmlpkdd.pdf


Statistical relational learning of object affordances for robotic manipulation
Latest Advances in Inductive Logic Programming, Imperial College Press 2012
moldovan12icilp.pdf


Learning relational affordance models for robots in multi object manipulation tasks
B. Moldovan, P. Moreno, M. van Otterlo, J. SantosVictor, and L. De Raedt In Proc. of the IEEE International Confer ence on Robotics and Automation (ICRA), St Paul, Minnesota, USA 2012
moldovan12icra.pdf


Scene in the loop: Towards adaptationbytracking in RGBD Data
L. Spinello, C. Stachniss, and W. Burgard In Proc. of The Workshop on RGBD: Advanced Reasoning with Depth Cameras (RSS) 2012
spinelloRSSws12.pdf


An Evaluation of the RGBD SLAM System
F. Endres, J. Hess, N. Engelhard, J. Sturm, D. Cremers, and W. Burgard In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, USA 2012
endres12icra.pdf


From LowLevel Trajectory Demonstrations to Symbolic Actions for Planning
N. Abdo, H. Kretzschmar, and C. Stachniss In Proc. of the ICAPS Workshop on Combining Task and Motion Planning for RealWorld Applications (TAMPRA), Atibaia, Sao Paulo, Brazil 2012
abdo12tampra.pdf


Improved Nonlinear Spline Fitting for Teaching Trajectories to Mobile Robots
Christoph Sprunk, Boris Lau, and Wolfram Burgard Proc. of the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, USA 2012
sprunk12icra.pdf


Navigation in ThreeDimensional Cluttered Environments for Mobile Manipulation
A. Hornung, M. Phillips, E. G. Jones, M. Bennewitz, M. Likhachev, S. Chitta In Proc. of the IEEE International Conference on Robotics & Automation (ICRA) 2012
hornung12icra.pdf


Learning Markov logic networks via functional gradient boosting
T. Khot, S. Natarajan, K. Kersting, and J. Shavlik In Proc. of the IEEE International Conference on Data Mining (ICDM), Vancouver, Canada 2011
khot11icdm.pdf


Multitask learning with task relations
Z. Xu and K. Kersting In Proc. of the IEEE International Conference on Data Mining (ICDM), Vancouver, Canada 2011
xu11icdm.pdf


Lifted linear programming
M. Mladenov, B. Ahmadi, and K. Kersting In Proc. of the 15th International Conference on Artificial Intelligence and Statistics (AISTATS 2012), La Palma, Canary Islands, Spain 2012
mladenov12aistats.pdf


Markov Logic Mixtures of Gaussian Processes: Towards Machines Reading Regression Data
M. Schiegg, M. Neumann, and K. Kersting In Proc. of the 15th International Conference on Artificial Intelligence and Statistics (AISTATS 2012), La Palma, Canary Islands, Spain 2012
schiegg12aistats.pdf


Incremental Updates of Configuration Space Representations for NonCircular Mobile Robots with 2D, 2.5D, or 3D Obstacle Models
Boris Lau, Christoph Sprunk, and Wolfram Burgard In Proc. of the European Conference on Mobile Robots (ECMR), Örebro, Sweden. 2011
lau11ecmr.pdf


A Probabilistic Framework for Learning Kinematic Models of Articulated Objects
J. Sturm and C. Stachniss and W. Burgard Journal of Artificial Intelligence Research 2011
sturm11jair.pdf


Hierarchies of Octrees for Efficient 3D Mapping
K.M. Wurm and D. Hennes and D. Holz and R.B. Rusu and C. Stachniss and K. Konolige and W. Burgard IEEE/RSJ International Conference on Intelligent Robots and Systems 2011
wurm11iros.pdf


Efficient Motion Planning for Manipulation Robots in Environments with Deformable Objects
B. Frank and C. Stachniss and N. Abdo and W. Burgard IEEE/RSJ International Conference on Intelligent Robots and Systems 2011
frank11iros.pdf


Gradientbased Boosting for Statistical Relational Learning: The Relational Dependency Network Case
S. Natarajan, T. Khot, K. Kersting, B. Gutmann, and J. Shavlik Machine Learning Journal, vol. 86, no. 1, pp. 26–56 2012
natarajan12mlj.pdf


MultiEvidence Lifted Message Passing, with Application to PageRank and the Kalman Filter
B. Ahmadi, K. Kersting, and S. Sanner In T. Walsh, editor, Proceedings of the 22nd International Joint Conference on Artificial Intelligence (IJCAI), Barcelona, Spain 2011
ahmadi11ijcai.pdf


Imitation Learning in Relational Worlds: A Functional Gradient Boosting Approach
S. Natarajan, S. Joshi, P. Tadepelli, K. Kersting, and J. Shavlik In T. Walsh, editor, Proceedings of the 22nd International Joint Conference on Artificial Intelligence (IJCAI), Barcelona, Spain 2011
natarajan11ijcai.pdf


Markov Logic Sets: Towards Lifted Information Retrieval using PageRank and Label Propagation
M. Neumann, K. Kersting, and B. Ahmadi In W. Burgard and D. Roth, editors, Proceedings of the Twenty–Fifth AAAI Conference on Artificial Intelligence (AAAI–11), San Francisco, CA, USA 2011
neumann11aaai.pdf


Learning the parameters of probabilistic logic programs from interpretations
Bernd Gutmann, Ingo Thon, and Luc De Raedt Technical Report CW 584, Department of Computer Science, Katholieke Universiteit Leuven, Belgium 2010
gutmann10tr.pdf


Temporal gesture recognition for humanrobot interaction
M. Sigalas, H. Baltzakis and P. Trahanias In Proceedings of Mutimodal HumanRobot Interfaces Workshop held within IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA 2010
sigalas10icraws.pdf


An integrated approach for visual tracking of hands, faces and facial features
M. Pateraki, H. Baltzakis, and P. Trahanias In Proceedings of the Workshop on Measuring and Understanding Human Movements and Emotions, held within the IEEE International Conference on Robotics and Automation (ICRA), Shangai, China 2011
pateraki11icraws.pdf


Gesture recognition based on arm tracking for humanrobot interaction
M. Sigalas, H. Baltzakis and P. Trahanias In Proceedings of the IEEE/RSJ Intlernational Conference on Intelligent Robotics and Systems (IROS), Taipei, Taiwan 2010
sigalas10iros.pdf


Extending ProbLog with Continuous Distributions
Bernd Gutmann, Manfred Jaeger, and Luc De Raedt In Paolo Frasconi and Francesca Alessandra Lisi, editors, Proceedings of the 20th International Conference on Inductive Logic Programming (ILP), Firenze, Italy 2010
gutmann10ilp.pdf


Image driven generation of pose hypotheses for 3d modelbased tracking
M. Brandão, A. Bernardino, and J. SantosVictor In Proceedings of the 12th IAPR Conference on Machine Vision and Applications, to appear 2011
brandao11mva.pdf


Coupled dynamical system based handarm grasp planning under realtime perturbations
A. Shukla and A. Billard In Proceedings of Robotics: Science and Systems (RSS), Los Angeles, CA, USA 2011
shukla11RSS.pdf


The Magic of Logical Inference in Probabilistic Programming
Bernd Gutmann, Ingo Thon, Angelika Kimmig, Maurice Bruynooghe, and Luc De Raedt Accepted for Publication in Theory and Practice of Logic Programming 2011
gutmann11tplp.pdf


Using Artificial Landmarks to Reduce the Ambiguity in the Environment of a Mobile Robot
Daniel MeyerDelius, Max Beinhofer, Alexander Kleiner, and Wolfram Burgard In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China 2011
meyerdelius11icra.pdf


Online Generation of Kinodynamic Trajectories for NonCircular Omnidirectional Robots
Christoph Sprunk, Boris Lau, Patrick Pfaff, and Wolfram Burgard In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China 2011
sprunk11icra.pdf


Donut as I do: Learning from Failed Demonstrations
Daniel H Grollman and Aude Billard In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China 2011 Best Cognitive Robotics Paper Award
grollman11icra.pdf


Inference based Trajectory Optimization for Imitation based Grasping
A. Jain, R. MartinezCantin, A. Bernardino, and J. SantosVictor In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Workshop on Grasp Planning and Task Learning by Imitation 2010
ashish10iros.pdf


MultiAgent Inverse Reinforcement Learning
S. Natarajan, G. Kunapuli, K. Judah, P. Tadepalli, K. Kersting, and J. Shavlik In S. Draghici, T. Khoshgoftaar, V. Palade, W. Pedrycz, X. Zhu, editors, Proceedings of the 9th IEEE International Conference on Machine Learning and Applications (ICMLA10), Washington DC, USA 2010
natarajan10icmla.pdf


Gaussian Mixture Models for Affordance Learning using Bayesian Networks
P. Osório, A. Bernardino, R. MartinezCantin, and J. SantosVictor In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan 2010
osorio10iros.pdf


Lifted Belief Propagation: Pairwise Marginals and Beyond
B. Ahmadi, K. Kersting, and F. Hadiji In P. Myllymaeki, T. Roos, and T. Jaakkola, editor(s), Proceedings of the 5th European Workshop on Probabilistic Graphical Models (PGM10), Helsinki, Finland 2010
ahmadi10pgm.pdf


Operating Articulated Objects Based on Experience
J. Sturm, A. Jain, C. Stachniss, C. Kemp, and W. Burgard In Proc. of the IEEE International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan 2010
sturm10iros.pdf


Visionbased Detection for Learning Articulation Models of Cabinet Doors and Drawers in Household Environments
Juergen Sturm, Kurt Konolige, Cyrill Stachniss, and Wolfram Burgard In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska 2010
sturm10icra.pdf


Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping
Giorgio Grisetti, Rainer Kümmerle, Cyrill Stachniss, Udo Frese, and Christoph Hertzberg In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska 2010
grisetti10icra.pdf


Improved Updating of Euclidean Distance Maps and Voronoi Diagrams
Boris Lau, Christoph Sprunk, and Wolfram Burgard In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan 2010
lau10iros.pdf


OctoMap: A Probabilistic, Flexible, and Compact 3D Map Representation for Robotic Systems
K.M. Wurm, A. Hornung, M. Bennewitz, C. Stachniss, and W. Burgard In Proc. of the ICRA 2010 Workshop on Best Practice in 3D Perception and Modeling for Mobile Manipulation, Anchorage, USA 2010
wurm10octomap.pdf


Exploiting Causal Independence in Markov Logic Networks: Combining Undirected and Directed Models
S. Natarajan, T. Khot, D. Lowd, P. Tadepalli, and K. Kersting J. Balcazar, F. Bonchi, A. Gionis, and M. Sebag, editors, European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECML PKDD10) 2010
natarajan10ecml.pdf


Exploration in Relational Worlds
T. Lang, M. Toussaint, and K. Kersting J. Balcazar, F. Bonchi, A. Gionis, M. Sebag, editors, European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECML PKDD10), Barcelona, Spain, Springer 2010
lang10ecml.pdf


Learning to Hash Logistic Regression for Fast 3D Scan Point Classification
J. Behley, K. Kersting, D. Schulz, V. Steinhage, and A.B. Cremers. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) 2010
behley10iros.pdf


Lifted Message Passing for Satisfiability
F. Hadiji, K. Kersting, and B. Ahmadi Working Notes of the AAAI10 Workshop on Statistical Relational AI (StarAI) 2010
hadiji10starai.pdf


Boosting Relational Dependency Networks
S. Natarajan, T. Khot, K. Kersting, B. Gutmann, and J. Shavlik Proceedings of the 20th International Conference on Inductive Logic Programming (ILP10), accepted 2010
natarajan10ilp.pdf
