Preprints

Yixuan Huang, Christopher Agia, Jimmy Wu, Tucker Hermans, Jeannette Bohg. Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics. August 2024.

Rishi Bommasani et al. On the Opportunities and Risks of Foundation Models. August 2021.

2024

Krishnan Srinivasan, Jeremy A. Collins, Eric Heiden, Ian Ng, Jeannette Bohg, Animesh Garg. DexMOTS : Dexterous Manipulation with Differentiable Simulation. International Symposium of Robotics Research (ISRR), December 2024.

Qianxu Wang, Congyue Deng, Tyler Ga Wei Lum, Yuanpei Chen, Yaodong Yang, Jeannette Bohg, Yixin Zhu, and Leonidas Guibas. Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping. Conference on Robot Learning (CoRL), November 2024.

Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg. TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning. Conference on Robot Learning (CoRL), November 2024.

Huaxiaoyue Wang, Nathaniel Chin, Gonzalo Gonzalez-Pumariega, Xiangwan Sun, Neha Sunkara, Maximus Adrian Pace, Jeannette Bohg, and Sanjiban Choudhury. APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs . Conference on Robot Learning (CoRL), November 2024.

Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao, Sean Kirmani, Tianhe Yu, Michael Stark, Ajinkya Jain, Karol Hausman, Dorsa Sadigh*, Jeannette Bohg*, Stefan Schaal*. RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches. (Oral) Conference on Robot Learning (CoRL), November 2024.

Christopher Agia, Rohan Sinha, Jingyun Yang, Ziang Cao, Rika Antonova, Marco Pavone, and Jeannette Bohg. Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress. Conference on Robot Learning (CoRL), November 2024.

Jingyun Yang*, Ziang Cao*, Congyue Deng, Rika Antonova, Shuran Song, and Jeannette Bohg. EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning. Conference on Robot Learning (CoRL), November 2024.

Tyler Ga Wei Lum*, Albert H. Li*, Preston Culbertson, Krishnan Srinivasan, Aaron Ames, Mac Schwager, and Jeannette Bohg. Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer. Conference on Robot Learning (CoRL), November 2024.

Marion Lepert, Ria Doshi, and Jeannette Bohg. Shadow: Leveraging Segmentation Masks for Cross-Embodiment Policy Transfer. Conference on Robot Learning (CoRL), November 2024.

Carlota Pares Morlans*, Claire Chen*, Yijia Weng, Michelle Yi, Yuying Huang, Nick Heppert, Linqi Zhou, Leonidas Guibas, and Jeannette Bohg. AO-Grasp: Articulated Object Grasp Generation. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

Aaditya Prasad, Kevin Lin, Jimmy Wu, Linqi Zhou and Jeannette Bohg. Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation. Proceedings of Robotics: Science and Systems (RSS), 2024.

Sirui Chen, Jeannette Bohg and C. Karen Liu. SpringGrasp: An optimization pipeline for robust and compliant dexterous pre-grasp synthesis. Proceedings of Robotics: Science and Systems (RSS), 2024.

Alexander Khazatsky et al. DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset. Proceedings of Robotics: Science and Systems (RSS), 2024.

Negin Heravi, Heather Culbertson, Allison M. Okamura, and Jeannette Bohg. Development and Evaluation of a Learning-based Model for Real-time Haptic Texture Rendering. IEEE Transactions on Haptics, March 2024.

Open X-Embodiment Collaboration. Open X-Embodiment: Robotic Learning Datasets and RT-X Models. IEEE International Conference on Robotics and Automation (ICRA), 2024 (Best Conference Paper Award, Finalist for Best Paper Award in Robot Manipulation and Best Student Paper Award).

Tara Sadjadpour, Rares Ambrus, and Jeannette Bohg. ShaSTA-Fuse: Camera-LiDAR Sensor Fusion to Model Shape and Spatio-Temporal Affinities for 3D Multi-Object Tracking. October 2023.

Tara Sadjadpour, Jie Li, Rares Ambrus, and Jeannette Bohg. ShaSTA: Modeling Shape and Spatio-Temporal Affinities for 3D Multi-Object Tracking. IEEE Robotics and Automation Letters. Presented at IEEE International Conference on Robotics and Automation (ICRA), 2024.

Brandon Vu, Toki Migimatsu, and Jeannette Bohg. COAST: Constraints and Streams for Task and Motion Planning. IEEE International Conference on Robotics and Automation (ICRA), 2024.

Jingyun Yang*, Congyue Deng*, Jimmy Wu, Rika Antonova, Leonidas Guibas, and Jeannette Bohg. EquivAct: SIM(3)-Equivariant Visuomotor Policies beyond Rigid Object Manipulation. IEEE International Conference on Robotics and Automation (ICRA), 2024.

Jingyun Yang*, Max Sobol Mark*, Brandon Vu, Archit Sharma, Jeannette Bohg, and Chelsea Finn. Robot Fine-Tuning Made Easy: Pre-Training Rewards and Policies for Autonomous Real-World Reinforcement Learning. IEEE International Conference on Robotics and Automation (ICRA), 2024.

Dane Brouwer, Joshua Citron, Hojung Choi, Marion Lepert, Michael Lin, Jeannette Bohg, Mark Cutkosky. Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter IEEE International Conference on Robotics and Automation (ICRA), 2024.

2023

Priya Sundaresan and Suneel Belkhale and Dorsa Sadigh and Jeannette Bohg. KITE: Keypoints + Instructions To Execution Keypoint-Conditioned Policies for Semantic Manipulation. Conference on Robot Learning. November 2023.

Kevin Lin*, Christopher Agia*, Toki Migimatsu, Marco Pavone and Jeannette Bohg. Text2Motion: From Natural Language Instructions to Feasible Plans. Special Issue on Large Language Models in Robotics, Autonomous Robots. November 2023.

Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, Thomas Funkhouser. TidyBot: Personalized Robot Assistance with Large Language Models. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023. Extended version in Special Issue on Large Language Models in Robotics, Autonomous Robots.

Kuan Fang*, Toki Migimatsu*, Ajay Mandlekar, Li Fei-Fei, and Jeannette Bohg. Active Task Randomization: Learning Visuomotor Skills for Sequential Manipulation by Proposing Feasible and Novel Tasks. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023.

Chaoyi Pan*, Marion Lepert*, Shenli Yuan, Rika Antonova, and Jeannette Bohg. In-Hand Manipulation with Tactile Sensing for Inserting Unknown Objects. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023.

Newbury, Rhys and Gu, Morris and Chumbley, Lachlan and Mousavian, Arsalan and Eppner, Clemens and Leitner, Jürgen and Bohg, Jeannette and Morales, Antonio and Asfour, Tamim and Kragic, Danica and Fox, Dieter and Cosgun, Akansel Deep Learning Approaches to Grasp Synthesis: a Review. Transactions on Robotics. June 2023.

Heppert, N., Irshad, M. Z., Zakharov, S., Liu, K., Ambrus, R. A., Bohg, J., Valada, A., Kollar, T. CARTO: Category and Joint Agnostic Reconstruction of ARTiculated Objects. Conference on Computer Vision and Pattern Recognition (CVPR), 2023.

Ruohan Gao*, Yiming Dou*, Hao Li*, Tanmay Agarwal, Jeannette Bohg, Yunzhu Li, Li Fei-Fei and Jiajun Wu The ObjectFolder Benchmark: Multisensory Learning with Neural and Real Objects. Conference on Computer Vision and Pattern Recognition (CVPR), 2023.

Negin Heravi, Ayzaan Wahid, Corey Lynch, Pete Florence, Travis Armstrong, Jonathan Tompson, Pierre Sermanet, Jeannette Bohg and Debidatta Dwibedi. Visuomotor Control in Multi-Object Scenes Using Object-Aware Representations. IEEE International Conference on Robotics and Automation (ICRA), 2023.

Christopher Agia*, Toki Migimatsu*, Jiajun Wu, and Jeannette Bohg. STAP: Sequencing Task-Agnostic Policies. IEEE International Conference on Robotics and Automation (ICRA), 2023.

Mengxi Li, Rika Antonova, Dorsa Sadigh and Jeannette Bohg. Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation. IEEE International Conference on Robotics and Automation (ICRA), 2023.

2022

Rika Antonova*, Jingyun Yang*, Krishna Murthy and Jeannette Bohg. Rethinking Optimization with Differentiable Simulation from a Global Perspective. Conference on Robot Learning (CoRL), December 2022. (Oral)

Michael A Lin, Emilio Reyes, Jeannette Bohg and Mark R Cutkosky. Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

Priya Sundaresan, Rika Antonova and Jeannette Bohg. DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

Nick Heppert, Toki Migimatsu, Brent Yi, Claire Chen, and Jeannette Bohg. Category-Independent Articulated Object Tracking with Factor Graphs. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

Ruohan Gao*, Zilin Si*, Yen-Yu Chang*, Samuel Clarke, Jeannette Bohg, Li Fei-Fei, Wenzhen Yuan, Jiajun Wu. ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfer. Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

Rika Antonova, Jingyun Yang, Priya Sundaresan, Dieter Fox, Fabio Ramos, Jeannette Bohg. A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation. IEEE Robotics and Automation Letters (RA-L), 2022.

Migimatsu, T., Lian, W., Bohg, J., Schaal, S. Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks. IEEE International Conference on Robotics and Automation (ICRA), 2022.

Migimatsu, T. and Bohg, J. Grounding Predicates through Actions. IEEE International Conference on Robotics and Automation (ICRA), 2022.

Yang, J., Zhang, J., Settle, C., Rai, A., Antonova, R., Bohg, J. Learning Periodic Tasks from Human Demonstrations. IEEE International Conference on Robotics and Automation (ICRA), 2022.

Adamkiewicz, M., Chen, T., Caccavale, A., Gardner, R., Culbertson, P., Bohg, J., Schwager, M. Vision-Only Robot Navigation in a Neural Radiance World. IEEE Robotics and Automation Letters and ICRA. 2022.

M. Salvato, Negin Heravi, Allison M. Okamura, and Jeannette Bohg. Predicting Hand-Object Interaction for Improved Haptic Feedback in Mixed Reality. IEEE Robotics and Automation Letters and ICRA. 2022.

JunYoung Gwak, Silvio Savarese and Jeannette Bohg. Minkowski Tracker: A Sparse Spatio-Temporal R-CNN for Joint Object Detection and Tracking. August 2022.

2021

Nicholas Roy et al. From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence. October 2021.

Choudhury, S., Gupta, J. K., Kochenderfer, M. J., Sadigh, D., Bohg, J. Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints, Autonomous Robots, November 2021

Antonova, R., Bohg, J. Learning to be Multimodal: Co-evolving Sensory Modalities and Sensor Properties Conference on Robot Learning (CoRL) - Blue Sky Track, November 2021. (Oral)

Clarke, S., Heravi, N., Rau, M., Guo, R., Wu, J., James, D., Bohg, J. DiffImpact: Differentiable Rendering and Identification of Impact Sounds Conference on Robot Learning (CoRL), November 2021. (Oral)

Shao, L., You, Y., Yan, M., Yuan, S., Sun, Q., Bohg, J. GRAC : Self-Guided and Self-Regularized Actor-Critic Conference on Robot Learning (CoRL), November 2021.

Zakka, K. Zeng, A., Florence, P., Tompson, J., Bohg, J., Dwibedi, D. XIRL: Cross-embodiment Inverse Reinforcement Learning. Conference on Robot Learning (CoRL), November 2021. (Oral, Finalist Best Paper Award)

Shao, L., Migimatsu, T., Zhang, Q., Yang, K. and Bohg, J. Concept2Robot: Learning Manipulation Concepts from Instructions and Human Demonstrations. International Journal of Robotics Research (IJRR), October 2021.

Yi, B., Lee, M.A., Kloss, A., Martín-Martín, R., Bohg, J. Differentiable Factor Graph Optimization for Learning Smoothers. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2021.

Chen, C., Culbertson, P., Lepert, M., Schwager, M., Bohg, J. TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2021.

Losey, D., Jun Jeon, H., Li, M., Srinivasan, K., Mandlekar, A., Garg, A., Bohg, J., Sadigh, D. Learning Latent Actions to Control Assistive Robots. Journal of Autonomous Robots (AURO), August 2021.

Kloss, A., Martius, G., Bohg, J. How to Train Your Differentiable Filter Autonomous Robots. June 2021.

Chiu, H.-K., Li, J., Ambrus, R., and Bohg, J. Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Driving. ICRA. 2021

Lee, M.A., Tan, M., Zhu, Y., and Bohg, J. Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors. ICRA. 2021

Zachares, P.A., Lee, M.A., Lian, W, and Bohg, J. Interpreting Contact Interactions to Overcome Failure in Robot Assembly Tasks. ICRA. 2021

You, Y.*, Shao, L.*, Migimatsu, T., Bohg, J. OmniHang: Learning to Hang Arbitrary Objects Using Contact Point Correspondences and Neural Collision Estimation. ICRA. 2021

2020

Lee, M.A.*, Yi, B.*, Martín-Martín, R., Savarese, S., and Bohg, J. Multimodal Sensor Fusion with Differentiable Filters. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020.

Yan, M., Li, G., Zhu, Y., and Bohg, J. Learning Topological Motion Primitives for Knot Planning. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020.

Mengxi Li, Dylan P. Losey, Jeannette Bohg, Dorsa Sadigh. Learning User-Preferred Mappings for Intuitive Robot Control. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020.

Kloss, A., Schaal, S., Bohg, J. Combining Learned and Analytical Models for Predicting Action Effects from Sensory Data The International Journal on Robotics Research (IJRR), September 2020.

Shao, L., Migimatsu, T., Zhang, Q., Yang, K. and Bohg, J. Concept2Robot: Learning Manipulation Concepts from Instructions and Human Demonstrations Proceedings of Robotics: Science and Systems (RSS), July 2020

Choudhury, S., Gupta, J. K., Kochenderfer, M. J., Sadigh, D., Bohg, J. Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints Proceedings of Robotics: Science and Systems (RSS), July 2020

Chiu, H.-K., Prioletti, A., Li, J. and Bohg, J. Probabilistic 3D Multi-Object Tracking for Autonomous Driving. Technical Report. 2020. (Winner NuScenes Tracking Challenge)

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

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

Kokic, M., Kragic, D., Bohg, J. Learning Task-Oriented Grasping from Human Activity Datasets. IEEE Robotics and Automation Letters and ICRA. 2020.

Negin Heravi, Wenzhen Yuan, Allison M. Okamura, Jeannette Bohg. Learning an Action-Conditional Model for Haptic Texture Generation ICRA. 2020.

Alina Kloss and Maria Bauza and Jiajun Wu and Joshua B. Tenenbaum and Alberto Rodriguez and Jeannette Bohg. Accurate Vision-based Manipulation through Contact Reasoning. ICRA. 2020.

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

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

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 Multifingered Robotic Hands IEEE Robotics and Automation Letters and ICRA. 2020.

Lee, M.A., Zhu, Y., Zachares, P., Tan, M., Srinivasan, K., 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. 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.A.*, 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)

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.