Publications

Preprints

Lee, M., Zhu, Y., Zachares, P., Tan, M., Srinivasan, K., Shah, P., Savarese, S., Fei-Fei, L., Garg, A., Bohg, J. Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks. Transactions in Robotics (Accepted for Publication). 2019.

Kloss, A., Bohg, J. On Learning Heteroscedastic Noise Models within Differentiable Bayes Filters OpenReview. September 2018.

Kloss, A., Schaal, S., Bohg, J. Combining learned and analytical models for predicting action effects Submitted to International Journal on Robotics Research - Special Issue on Robot Vision. 2018.

Shao, L., Ferreira, F., Jorda, M., Nambiar, V., Luo, J., Solowjow, E., Aparicio Ojea, J., Khatib, O., Bohg, J. UniGrasp: Learning a Unified Model to Grasp with N-Fingered Robotic Hands Submitted to IEEE Robotics and Automation Letters with ICRA option. 2020.

Li, T., Srinivasan, K., Meng, M., Yuan, W., Bohg, J. Learning Hierarchical Control for Robust In-Hand Manipulation. Submitted to ICRA. 2020.

Shao, L., Migimatsu, T., Bohg, J. Learning to Scaffold the Development of Robotic Manipulation Skills Submitted to ICRA. 2020.

Migimatsu, T., Bohg, J. Object-Centric Task and Motion Planning in Dynamic Environments Submitted to IEEE Robotics and Automation Letters with ICRA option. 2020.

Yan, M., Zhu, Y., Jin, N., Bohg, J. Self-Supervised Learning of State Estimation for Manipulating Deformable Linear Objects Submitted to IEEE Robotics and Automation Letters with ICRA option. 2020.

2019

Dylan P. Losey*, Mengxi Li*, Jeannette Bohg, Dorsa Sadigh. Learning from My Partner's Actions: Roles in Decentralized Robot Teams. November. CoRL 2019. (oral) (* denotes equal contribution)

Carlos Rubert, Daniel Kappler, Jeannette Bohg and Antonio Morales. Predicting grasp success in the real world - A study of quality metrics and human assessment. Robotics and Autonomous Systems. Volume 121, November 2019.

Xingyu Liu, Mengyuan Yan, Jeannette Bohg. MeteorNet: Deep Learning on Dynamic 3D Point Cloud Sequences. November. ICCV 2019 (Oral).

Kokic, M., Kragic, D., Bohg, J. Learning to Estimate Pose and Shape of Hand-Held Objects from RGB Images. October. IROS 2019.

Fabio Ferreira, Lin Shao, Tamim Asfour, Jeannette Bohg. Learning Visual Dynamics Models of Rigid Objects using Relational Inductive Biases. NeurIPS 2019 Graph Representation Learning Workshop. September 2019.

Roberto Martín-Martín, Michelle A. Lee, Rachel Gardner, Silvio Savarese, Jeannette Bohg, Animesh Garg Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks. October. IROS 2019.

Lee, M., Zhu, Y., Srinivasan, K., Shah, P., Savarese, S., Fei-Fei, L., Garg, A., Bohg, J. Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks. ICRA '19. Best Paper Award. Finalist for Best Paper Award on Cognitive Robotics.

Merzic, H., Bogdanovic, M., Kappler, D., Righetti, L. , Bohg, J. Leveraging Contact Forces for Learning to Grasp. ICRA '19.

Li, W., Leonardis, A., Bohg, J., Fritz, M. Learning Manipulation under Physics Constraints with Visual Perception arXiv, April 2019.

2018

Shao, L., Shah, P., Dwaracherla, V., Bohg, J. Motion-based Object Segmentation based on Dense RGB-D Scene Flow IEEE Robotics and Automation Letters, 3(4):3797-3804, IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2018

Shao, L., Tian, Y., Bohg, J. ClusterNet: Instance Segmentation in RGB-D Images arXiv. July 2018.

Kappler, D., Meier, F., Issac, J., Mainprice, J., Garcia Cifuentes, C., Wüthrich, M., Berenz, V., Schaal, S., Ratliff, N., Bohg, J. Real-time Perception meets Reactive Motion Generation IEEE Robotics and Automation Letters, 3(3):1864-1871, July 2018. Finalist Amazon Best System Paper Award.

2017

Li, W., Bohg, J., Fritz, M. Acquiring Target Stacking Skills by Goal-Parameterized Deep Reinforcement Learning arXiv, November 2017.

Rubert, C., Kappler, D., Morales, A., Schaal, S., Bohg, J. On the relevance of grasp metrics for predicting grasp success In Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems, September 2017 (in proceedings, accepted)

Garcia Cifuentes, C., Issac, J., Wüthrich, M., Schaal, S., Bohg, J. Probabilistic Articulated Real-Time Tracking for Robot Manipulation IEEE Robotics and Automation Letters (RA-L), 2(2):577-584, April 2017. 2017 RA-L Best Paper Award, Finalist ICRA '17 Best Vision Paper.

Bohg, J., Hausman, K., Sankaran, B., Brock, O., Kragic, D., Schaal, S., Sukhatme, G. Interactive Perception: Leveraging Action in Perception and Perception in Action IEEE Transactions on Robotics, 33, pages: 1273-1291, December 2017 (article)

2016

Bohg, J., Kappler, D., Meier, F., Ratliff, N., Mainprice, J., Issac, J., Wüthrich, M., Garcia Cifuentes, C., Berenz, V., Schaal, S. Interlocking Perception-Action Loops at Multiple Time Scales - A System Proposal for Manipulation in Uncertain and Dynamic EnvironmentsIn International Workshop on Robotics in the 21st century: Challenges and Promises , September 2016 (inproceedings)

Kloss, A., Kappler, D., Lensch, H. P. A., Butz, M. V., Schaal, S., Bohg, J. Learning Where to Search Using Visual Attention Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems, IEEE, IROS, October 2016 (conference)

Dominey, P. F., Prescott, T. J., Bohg, J., Engel, A. K., Gallagher, S., Heed, T., Hoffmann, M., Knoblich, G., Prinz, W., Schwartz, A. Implications of Action-Oriented Paradigm Shifts in Cognitive Science In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 333-356, 20, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strungmann Forum, May 2016.

Bohg, J., Kragic, D. Learning Action-Perception Cycles in Robotics: A Question of Representations and Embodiment. In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 333-356, 20, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strungmann Forum, May 2016.

Widmaier, F., Kappler, D., Schaal, S., Bohg, J. Robot Arm Pose Estimation by Pixel-wise Regression of Joint Angles In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016, IEEE, IEEE International Conference on Robotics and Automation, May 2016.

Kappler, D., Schaal, S., Bohg, J. Optimizing for what matters: the Top Grasp Hypothesis In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016, IEEE, IEEE International Conference on Robotics and Automation, May 2016.

Bohg, J., Kappler, D., Schaal, S. Exemplar-based Prediction of Object Properties from Local Shape Similarity In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016, IEEE, IEEE International Conference on Robotics and Automation, May 2016.

Issac, J., Wüthrich, M., Garcia Cifuentes, C., Bohg, J., Trimpe, S., Schaal, S. Depth-based Object Tracking Using a Robust Gaussian Filter In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016, IEEE, IEEE International Conference on Robotics and Automation, May 2016.

Marco, A., Hennig, P., Bohg, J., Schaal, S., Trimpe, S. Automatic LQR Tuning Based on Gaussian Process Global Optimization In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE International Conference on Robotics and Automation, May 2016

Wüthrich, M., Garcia Cifuentes, C., Trimpe, S., Meier, F., Bohg, J., Issac, J., Schaal, S. Robust Gaussian Filtering using a Pseudo Measurement In Proceedings of the American Control Conference, Boston, MA, USA, July 2016.

2015

Marco, A., Hennig, P., Bohg, J., Schaal, S., Trimpe, S. Automatic LQR Tuning Based on Gaussian Process Optimization: Early Experimental Results Machine Learning in Planning and Control of Robot Motion Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2015.

Doerr, A., Ratliff, N., Bohg, J., Toussaint, M., Schaal, S. Direct Loss Minimization Inverse Optimal Control In Proceedings of Robotics: Science and Systems, Rome, Italy, Robotics: Science and Systems XI, July 2015.

Kappler, D., Bohg, B., Schaal, S. Leveraging Big Data for Grasp Planning In Proceedings of the IEEE International Conference on Robotics and Automation, May 2015.

Sankaran, B., Bohg, J., Ratliff, N., Schaal, S. Policy Learning with Hypothesis Based Local Action Selection In Reinforcement Learning and Decision Making, 2015.

Wüthrich, M., Bohg, J., Kappler, D., Pfreundt, C., Schaal, S. The Coordinate Particle Filter - A novel Particle Filter for High Dimensional Systems In Proceedings of the IEEE International Conference on Robotics and Automation, May 2015.

2014

Bohg, J., Romero, J., Herzog, A., Schaal, S. Robot Arm Pose Estimation through Pixel-Wise Part Classification In IEEE International Conference on Robotics and Automation (ICRA) 2014, pages: 3143-3150, IEEE International Conference on Robotics and Automation (ICRA), June 2014.

Herzog, A., Pastor, P., Kalakrishnan, M., Righetti, L., Bohg, J., Asfour, T., Schaal, S. Learning of Grasp Selection based on Shape-Templates Autonomous Robots, 36(1-2):51-65, Springer US, January 2014.

Toussaint, M., Ratliff, N., Bohg, J., Righetti, L., Englert, P., Schaal, S. Dual Execution of Optimized Contact Interaction Trajectories In Proceedings of the International Conference on Intelligent Robots and Systems, Chicago, IL, October 2014.

Bohg, J., Morales, A., Asfour, T., Kragic, D. Data-Driven Grasp Synthesis - A Survey IEEE Transactions on Robotics, 30, pages: 289 - 309, IEEE, April 2014.

2013

Hutter, M., Bloesch, M., Buchli, J., Semini, C., Bazeille, S., Righetti, L., Bohg, J. AGILITY – Dynamic Full Body Locomotion and Manipulation with Autonomous Legged Robots In IEEE International Symposium on Safety, Security, and Rescue Robotics, pages: 1-4, Linköping, 2013.

Ilonen, J., Bohg, J., Kyrki, V. Fusing visual and tactile sensing for 3-D object reconstruction while grasping In IEEE International Conference on Robotics and Automation (ICRA), pages: 3547-3554, 2013

Wüthrich, M., Pastor, P., Kalakrishnan, M., Bohg, J., Schaal, S. Probabilistic Object Tracking Using a Range Camera In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 3195-3202, IEEE, November 2013.

Illonen, J., Bohg, J., Kyrki, V. 3-D Object Reconstruction of Symmetric Objects by Fusing Visual and Tactile Sensing The International Journal of Robotics Research, 33(2):321-341, Sage, October 2013.

2012

Bohg, Jeannette, Welke, Kai, León, Beatriz, Do, Martin, Song, Dan, Wohlkinger, Walter, Aldoma, Aitor, Madry, Marianna, Przybylski, Markus, Asfour, Tamim, Marti, Higinio, Kragic, Danica, Morales, Antonio, Vincze, Markus Task-Based Grasp Adaptation on a Humanoid Robot In 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, September 5-7, 2012., pages: 779-786, 2012.

Gratal, X., Romero, J., Bohg, J., Kragic, D. Visual Servoing on Unknown Objects Mechatronics, 22(4):423-435, Elsevier, June 2012, Visual Servoing (SI).

2011

Bohg, J. Multi-Modal Scene Understanding for Robotic Grasping (2011:17):vi, 194, Trita-CSC-A, KTH Royal Institute of Technology, KTH, Computer Vision and Active Perception, CVAP, Centre for Autonomous Systems, CAS, KTH, Centre for Autonomous Systems, CAS, December 2011.

Bohg, J., Johnson-Roberson, M., Leon, B., Felip, J., Gratal, X., Bergstrom, N., Kragic, D., Morales, A. Mind the gap - robotic grasping under incomplete observation In Robotics and Automation (ICRA), 2011 IEEE International Conference on, pages: 686-693, May 2011.

Johnson-Roberson, M., Bohg, J., Skantze, G., Gustafson, J., Carlson, R., Rasolzadeh, B., Kragic, D. Enhanced visual scene understanding through human-robot dialog In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages: 3342-3348, 2011.

2010

Johnson-Roberson, M., Bohg, J., Kragic, D., Skantze, G., Gustafson, J., Carlson, R. Enhanced Visual Scene Understanding through Human-Robot Dialog In Proceedings of AAAI 2010 Fall Symposium: Dialog with Robots, November 2010 (inproceedings)

Gratal, X., Bohg, J., Björkman, M., Kragic, D. Scene Representation and Object Grasping Using Active Vision In IROS’10 Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics, October 2010.

Bohg, J., Kragic, D. Learning Grasping Points with Shape Context Robotics and Autonomous Systems, 58(4):362-377, North-Holland Publishing Co., Amsterdam, The Netherlands, The Netherlands, April 2010.

Johnson-Roberson, M., Bohg, J., Björkman, M., Kragic, D. Attention-based active 3D point cloud segmentation In Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, pages: 1165-1170, October 2010.

Bohg, J., Johnson-Roberson, M., Björkman, M., Kragic, D. Strategies for multi-modal scene exploration In Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, pages: 4509-4515, October 2010.

León, B., Ulbrich, S., Diankov, R., Puche, G., Przybylski, M., Morales, A., Asfour, T., Moisio, S., Bohg, J. Kuffner, J., Dillmann, R. OpenGRASP: A Toolkit for Robot Grasping Simulation In SIMPAR 2010: Simulation, Modeling, and Programming for Autonomous Robots , pages: 109-120, 2010. Best Paper Award.

2009

Bohg, J., Barck-Holst, C., Huebner, K., Ralph, M., Rasolzadeh, B., Song, D., Kragic, D. Towards Grasp-Oriented Visual Perception of Humanoid Robots International Journal of Humanoid Robotics, 06(03):387-434, 2009.

Bohg, J., Kragic, D. Grasping familiar objects using shape context In Advanced Robotics, 2009. ICAR 2009. International Conference on, pages: 1-6, 2009.

Bergström, N., Bohg, J., Kragic, D. Integration of Visual Cues for Robotic Grasping In Computer Vision Systems, 5815, pages: 245-254, Lecture Notes in Computer Science, Springer Berlin Heidelberg, 2009.