IP Robot Learning Projects

Ongoing IP Projects

Topic	Students	Advisor

Completed IP Projects

Topic	Students	Advisor
Super Fast Multi-Task Reinforcement Learning	Artur Zelik, David Masloub	Ahmed Hendawy, Firas Al-Hafez
Real-Time Deformable Object Instance Segmentation and Tracking	Jiahong Xue, Yu Deng, Teng Cao	Berk Gueler from IAS, Yufeng Jin from PEARL
Blending Deep Generative Models using Stochastic Optimization	Julian Ferrer Rodriguez	Kay Hansel and Niklas Funk from IAS
Training Robots to Play Badminton	Christian Bialas	Alap Kshirsagar
VLM Humanoid: AI-Powered Robotics for Next-Gen Human-Robot Interaction	Fei Long	Aiswarya Menon from IAS, Suman Pal from IAS, Changqi Chen ? from IAS
AutoPlan: Autonomous Gearbox Assembly	Keqi Zeng	Aiswarya Menon from IAS, Changqi Chen ? from IAS, Suman Pal from IAS
AutoPaint: Automatic Path Planning for High-Precision Robotic Spray Painting	Jannis Neus	Aiswarya Menon from IAS, Suman Pal from IAS, Arjun Vir Datta from IAS
Building a Test Bench for Tactile Slip Detection	Thomas Ellenberger, Faris Begic, Florian Mach, Paul List, Timo Kolbe	Tim Schneider and Niklas Funk from IAS, Janosch Moos and Omar Elsarha from IMS
Autoplan- THT Assembly	Yu Jiang	Suman Pal from IAS, Aiswarya Menon from IAS
Visuotactile Shear Force Estimation	Erik Helmut, Luca Dziarski	Niklas Funk, Boris Belousov
AI Olympics with RealAIGym	Tim Faust, Erfan Aghadavoodi, Habib Maraqten	Boris Belousov
Solving Insertion Tasks with RL in the Real World	Nick Striebel,Adriaan Mulder	Joao Carvalho
Student-Teacher Learning for simulated Quadrupeds	Keagan Holmes, Oliver Griess, Oliver Grein	Nico Bohlinger
Reinforcement Learning for Contact Rich Manipulation	Dustin Gorecki	Aiswarya Menon, Arjun Datta, Suman Pal
Autonomous Gearbox Assembly by Assembly by Disassembly	Jonas Chaselon, Julius Thorwarth	Aiswarya Menon, Felix Kaiser, Arjun Datta
Learning to Assemble from Instruction Manual	Erik Rothenbacker, Leon De Andrade, Simon Schmalfuss	Aiswarya Menon,Vignesh Prasad,Felix Kaiser,Arjun Datta
Black-box System Identification of the Air Hockey Table	Shihao Li, Yu Wang	Theo Gruner, Puze Liu
Unveiling the Unseen: Tactile Perception and Reinforcement Learning in the Real World	Alina Böhm, Inga Pfenning, Janis Lenz	Daniel Palenicek, Theo Gruner, Tim Schneider
XXX: eXploring X-Embodiment with RT-X	Daniel Dennert, Christian Scherer, Faran Ahmad	Daniel Palenicek, Theo Gruner, Tim Schneider, Maximilian Tölle
Kinodynamic Neural Planner for Robot Air Hockey	Niclas Merten	Puze Liu
XXX: eXploring X-Embodiment with RT-X	Tristan Jacobs	Daniel Palenicek, Theo Gruner, Tim Schneider, Maximilian Tölle
Reactive Human-to-Robot Handovers	Fabian Hahne	Vignesh Prasad, Alap Kshirsagar
Analysis of multimodal goal prompts for robot control	Max Siebenborn	Aditya Bhatt, Maximilian Tölle

Control Barrier Functions for Assistive Teleoperation	Yihui Huang,Yuanzheng Sun	Berk Gueler, Kay Hansel
Learning Torque Control for Quadrupeds	Daniel Schmidt, Lina Gaumann	Nico Bohlinger
Robot Learning for Dynamic Motor Skills	Marcus Kornamann, Qimeng He	Kai Ploeger, Alap Kshirsagar
Q-Ensembles as a Multi-Armed Bandit	Henrik Metternich	Ahmed Hendawy, Carlo D'Eramo
Pendulum Acrobatics	Florian Wolf	Kai Ploeger, Pascal Klink
Learn to play Tangram	Max Zimmermann, Marius Zöller, Andranik Aristakesyan	Kay Hansel, Niklas Funk
Characterizing Fear-induced Adaptation of Balance by Inverse Reinforcement Learning	Zeyuan Sun	Alap Kshirsagar, Firas Al-Hafez
Tactile Environment Interaction	Changqi Chen, Simon Muchau, Jonas Ringsdorf	Niklas Funk
Latent Generative Replay in Continual Learning	Marcel Mittenbühler	Ahmed Hendawy, Carlo D'Eramo
Memory-Free Continual Learning	Dhruvin Vadgama	Ahmed Hendawy, Carlo D'Eramo
Simulation of Vision-based Tactile Sensors	Duc Huy Nguyen	Boris Belousov, Tim Schneider
Learning Bimanual Robotic Grasping	Hanjo Schnellbächer, Christoph Dickmanns	Julen Urain De Jesus, Alap Kshirsagar
Learning Deep probability fields for planning and control	Felix Herrmann, Sebastian Zach	Davide Tateo, Georgia Chalvatzaki, Jacopo Banfi
On Improving the Reliability of the Baseline Agent for Robotic Air Hockey	Haozhe Zhu	Puze Liu
Self-Play Reinforcement Learning for High-Level Tactics in Robot Air Hockey	Yuheng Ouyang	Puze Liu, Davide Tateo
Kinodynamic Neural Planner for Robot Air Hockey	Niclas Merten	Puze Liu
Robot Drawing With a Sense of Touch	Noah Becker, Zhijingshui Yang, Jiaxian Peng	Boris Belousov, Mehrzad Esmaeili
Black-Box System Identification of the Air Hockey Table	Anna Klyushina, Marcel Rath	Theo Gruner, Puze Liu
Autonomous Basil Harvesting	Jannik Endres, Erik Gattung, Jonathan Lippert	Aiswarya Menon, Felix Kaiser, Arjun Vir Datta, Suman Pal
Latent Tactile Representations for Model-Based RL	Eric Krämer	Daniel Palenicek, Theo Gruner, Tim Schneider
Model Based Multi-Object 6D Pose Estimation	Helge Meier	Felix Kaiser, Arjun Vir Datta, Suman Pal
Reinforcement Learning for Contact Rich Manipulation	Noah Farr, Dustin Gorecki	Aiswarya Menon, Arjun Vir Datta, Suman Pal
Measuring Task Similarity using Learned Features	Henrik Metternich	Ahmed Hendawy, Pascal Klink, Carlo D'Eramo
Interactive Semi-Supervised Action Segmentation	Martina Gassen, Erik Prescher, Frederic Metzler	Lisa Scherf, Felix Kaiser, Vignesh Prasad
Kinematically Constrained Humanlike Bimanual Robot Motion	Yasemin Göksu, Antonio De Almeida Correia	Vignesh Prasad, Alap Kshirsagar
Control and System identification for Unitree A1	Lu Liu	Junning Huang, Davide Tateo
System identification and control for Telemax manipulator	Kilian Feess	Davide Tateo, Junning Huang
Tactile Active Exploration of Object Shapes	Irina Rath, Dominik Horstkötter	Tim Schneider, Boris Belousov, Alap Kshirsagar
Object Hardness Estimation with Tactile Sensors	Mario Gomez, Frederik Heller	Alap Kshirsagar, Boris Belousov, Tim Schneider
Task and Motion Planning for Sequential Assembly	Paul-Hallmann, Nicolas Nonnengießer	Boris Belousov, Tim Schneider, Yuxi Liu
A Digital Framework for Interlocking SL-Blocks Assembly with Robots	Bingqun Liu	Mehrzad Esmaeili, Boris Belousov
Learn to play Tangram	Max Zimmermann, Dominik Marino, Maximilian Langer	Kay Hansel, Niklas Funk
Learning the Residual Dynamics using Extended Kalman Filter for Puck Tracking	Haoran Ding	Puze Liu, Davide Tateo
ROS Integration of Mitsubishi PA 10 robot	Jonas Günster	Puze Liu, Davide Tateo
6D Pose Estimation and Tracking for Ubongo 3D	Marek Daniv	Joao Carvalho, Suman Pal
Task Taxonomy for robots in household	Amin Ali, Xiaolin Lin	Snehal Jauhri, Ali Younes
Task and Motion Planning for Sequential Assembly	Paul-Hallmann, Patrick Siebke, Nicolas Nonnengießer	Boris Belousov, Tim Schneider, Yuxi Liu
Learning the Gait for Legged Robot via Safe Reinforcement Learning	Joshua Johannson, Andreas Seidl Fernandez	Puze Liu, Davide Tateo
Active Perception for Mobile Manipulation	Sophie Lueth, Syrine Ben Abid, Amine Chouchane	Snehal Jauhri
Combining RL/IL with CPGs for Humanoid Locomotion	Henri Geiss	Firas Al-Hafez, Davide Tateo
Multimodal Attention for Natural Human-Robot Interaction	Aleksandar Tatalovic, Melanie Jehn, Dhruvin Vadgama, Tobias Gockel	Oleg Arenz, Lisa Scherf
Hybrid Motion-Force Planning on Manifolds	Chao Jin, Peng Yan, Liyuan Xiang	An Thai Le, Junning Huang
Stability analysis for control algorithms of Furuta Pendulum	Lu liu, Jiahui Shi, Yuheng Ouyang	Junning Huang, An Thai Le
Multi-sensorial reinforcement learning for robotic tasks	Rickmer Krohn	Georgia Chalvatzaki, Snehal Jauhri
Learning Behavior Trees from Video	Nick Dannenberg, Aljoscha Schmidt	Lisa Scherf, SumanPal
Subgoal-Oriented Shared Control	Zhiyuan Gao, Fengyun Shao	Kay Hansel
Task Taxonomy for robots in household	Amin Ali, Xiaolin Lin	Snehal Jauhri, Ali Younes
Learn to play Tangram	Maximilian Langer	Kay Hansel, Niklas Funk
Theory of Mind Models for HRI under partial Observability	Franziska Herbert, Tobias Niehues, Fabian Kalter	Dorothea Koert, Joni Pajarinen, David Rother
Learning Safe Human-Robot Interaction	Zhang Zhang	Puze Liu, Snehal Jauhri
Active-sampling for deep Multi-Task RL	Fabian Wahren	Carlo D'Eramo, Georgia Chalvatzaki
Interpretable Reinforcement Learning	patrick Vimr	Davide Tateo, Riad Akrour
Optimistic Actor Critic	Niklas Kappes,Pascal Herrmann	Joao Carvalho
Active Visual Search with POMDPs	Jascha Hellwig, Mark Baierl	Joao Carvalho, Julen Urain De Jesus
Utilizing 6D Pose-Estimation over ROS	Johannes Weyel	Julen Urain De Jesus
Learning Deep Heuristics for Robot Planning	Dominik Marino	Tianyu Ren
Learning Behavior Trees from Videos	Johannes Heeg, Aljoscha Schmidt and Adrian Worring	Suman Pal, Lisa Scherf
Learning Decisions by Imitating Human Control Commands	Jonas Günster, Manuel Senge	Junning Huang
Combining Self-Paced Learning and Intrinsic Motivation	Felix Kaiser, Moritz Meser, Louis Sterker	Pascal Klink
Self-Paced Reinforcement Learning for Sim-to-Real	Fabian Damken, Heiko Carrasco	Fabio Muratore
Policy Distillation for Sim-to-Real	Benedikt Hahner, Julien Brosseit	Fabio Muratore
Neural Posterior System Identification	Theo Gruner, Florian Wiese	Fabio Muratore, Boris Belousov
Syntethic Dataset generation for Articulation prediction	Johannes Weyel, Niklas Babendererde	Julen Urain, Puze Liu
Guided Dimensionality Reduction for Black-Box Optimization	Marius Memmel	Puze Liu, Davide Tateo
Learning Laplacian Representations for continuous MCTS	Daniel Mansfeld, Alex Ruffini	Tuan Dam, Georgia Chalvatzaki, Carlo D'Eramo
Object Tracking using Depth Carmera	Leon Magnus, Svenja Menzenbach, Max Siebenborn	Niklas Funk, Boris Belousov, Georgia Chalvatzaki
GNNs for Robotic Manipulation	Fabio d'Aquino Hilt, Jan Kolf, Christian Weiland	Joao Carvalho
Benchmarking advances in MCTS in Go and Chess	Lukas Schneider	Tuan Dam, Carlo D'Eramo
Architectural Assembly: Simulation and Optimization	Jan Schneider	Boris Belousov, Georgia Chalvatzaki
Probabilistic Object Tracking using Depth Carmera	Jan Emrich, Simon Kiefhaber	Niklas Funk, Boris Belousov, Georgia Chalvatzaki
Bayesian Optimization for System Identification in Robot Air Hockey	Chen Xue. Verena Sieburger	Puze Liu, Davide Tateo
Benchmarking MPC Solvers in the Era of Deep Reinforcement Learning	Darya Nikitina, Tristan Schulz	Joe Watson
Enhancing Attention Aware Movement Primitives	Artur Kruk	Dorothea Koert
Towards Semantic Imitation Learning	Pengfei Zhao	Julen Urain & Georgia Chalvatzaki
Can we use Structured Inference Networks for Human Motion Prediction?	Hanyu Sun, Liu Lanmiao	Julen Urain & Georgia Chalvatzaki
Reinforcement Learning for Architectural Combinatorial Optimization	Jianpeng Chen, Yuxi Liu, Martin Knoll, Leon Wietschorke	Boris Belousov, Georgia Chalvatzaki, Bastian Wibranek
Architectural Assembly With Tactile Skills: Simulation and Optimization	Tim Schneider, Jan Schneider	Boris Belousov, Georgia Chalvatzaki, Bastian Wibranek
Bayesian Last Layer Networks	Jihao Andreas Lin	Joe Watson, Pascal Klink
BATBOT: BATter roBOT for Baseball	Yannick Lavan, Marcel Wessely	Carlo D'Eramo
Benchmarking Deep Reinforcement Learning	Benedikt Volker	Davide Tateo, Carlo D'Eramo, Tianyu Ren
Model Predictive Actor-Critic Reinforcement Learning of Robotic Tasks	Daljeet Nandha	Georgia Chalvatzaki
Dimensionality Reduction for Reinforcement Learning	Jonas Jäger	Michael Lutter
From exploration to control: learning object manipulation skills through novelty search and local adaptation	Leon Keller	Svenja Stark, Daniel Tanneberg
Robot Air-Hockey	Patrick Lutz	Puze Liu, Davide Tateo
Learning Robotic Grasp of Deformable Object	Mingye Zhu, Yanhua Zhang	Tianyu Ren
Teach a Robot to solve puzzles with intrinsic motivation	Ali Karpuzoglu	Georgia Chalvatzaki, Svenja Stark
Inductive Biases for Robot Learning	Rustam Galljamov	Boris Belousov, Michael Lutter
Accelerated Mirror Descent Policy Search	Maximilian Hensel	Boris Belousov, Tuan Dam
Foundations of Adversarial and Robust Learning	Janosch Moos, Kay Hansel	Svenja Stark, Hany Abdulsamad
Likelihood-free Inference for Reinforcement Learning	Maximilian Hensel, Kai Cui	Boris Belousov
Risk-Aware Reinforcement Learning	Maximillian Kircher, Angelo Campomaggiore, Simon Kohaut, Dario Perrone	Samuele Tosatto, Dorothea Koert
	Jonas Eschmann, Robin Menzenbach, Christian Eilers	Boris Belousov, Fabio Muratore
Learning Symbolic Representations for Abstract High-Level Planning	Zhiyuan Hu, Claudia Lölkes, Haoyi Yang	Svenja Stark Daniel Tanneberg
Learning Perceptual ProMPs for Catching Balls	Axel Patzwahl	Dorothea Koert, Michael Lutter
Bayesian Inference for Switching Linear Dynamical Systems	Markus Semmler, Stefan Fabian	Hany Abdulsamad
Characterization of WAM Dynamics	Kai Ploeger	Dorothea Koert, Michael Lutter
Deep Reinforcement Learning for playing Starcraft II	Daniel Palenicek, Marcel Hussing, Simon Meister	Filipe Veiga
Enhancing Exploration in High-Dimensional Environments Δ	Lu Wan, Shuo Zhang	Simone Parisi
Building a Grasping Testbed	Devron Williams	Oleg Arenz
Online Dynamic Model Learning	Pascal Klink	Hany Abdulsamad, Alexandros Paraschos
Spatio-spectral Transfer Learning for Motor Performance Estimation	Karl-Heinz Fiebig	Daniel Tanneberg
From Robots to Cobots	Michael Burkhardt, Moritz Knaust, Susanne Trick	Dorothea Koert, Marco Ewerton
Learning Hand-Kinematics	Sumanth Venugopal, Deepak Singh Mohan	Gregor Gebhardt
Goal-directed reward generation	Alymbek Sadybakasov	Boris Belousov
Learning Grammars for Sequencing Movement Primitives	Kim Berninger, Sebastian Szelag	Rudolf Lioutikov
Learning Deep Feature Spaces for Nonparametric Inference	Philipp Becker	Gregor Gebhardt
Lazy skill learning for cleaning up a table	Lejla Nukovic, Moritz Fuchs	Svenja Stark
Reinforcement Learning for Gait Learning in Quadrupeds	Kai Ploeger, Zinan Liu	Svenja Stark
Learning Deep Feature Spaces for Nonparametric Inference	Philipp Becker	Gregor Gebhardt
Optimal Control for Biped Locomotion	Martin Seiler, Max Kreischer	Hany Abdulsamad
Semi-Autonomous Tele-Operation	Nick Heppert, Marius, Jeremy Tschirner	Oleg Arenz
Teaching People how to Write Japanese Characters	David Rother, Jakob Weimar, Lars Lotter	Marco Ewerton
Local Bayesian Optimization	Dmitry Sorokin	Riad Akrour
Bayesian Deep Reinforcement Learning -Tools and Methods-	Simon Ramstedt	Simone Parisi
Controlled Slip for Object Release	Steffen Kuchelmeister, Albert Schotschneider	Filipe Veiga
Learn intuitive physics from videos	Yunlong Song, Rong Zhi	Boris Belousov
Learn an Assembling Task with Swarm Robots	Kevin Daun, Marius Schnaubelt	Gregor Gebhardt
Learning To Sequence Movement Primitives	Christoph Mayer	Christian Daniel
Learning versatile solutions for Table Tennis	Felix End	Gerhard Neumann Riad Akrour
Learning to Control Kilo-Bots with a Flashlight	Alexander Hendrich, Daniel Kauth	Gregor Gebhardt
Playing Badminton with Robots	J. Tang, T. Staschewski, H. Gou	Boris Belousov
Juggling with Robots	Elvir Sabic, Alexander Wölker	Dorothea Koert
Learning and control for the bipedal walker FaBi	Manuel Bied, Felix Treede, Felix Pels	Roberto Calandra
Finding visual kernels	Fide Marten, Dominik Dienlin	Herke van Hoof
Feature Selection for Tetherball Robot Games	Xuelei Li, Jan Christoph Klie	Simone Parisi
Inverse Reinforcement Learning of Flocking Behaviour	Maximilian Maag, Robert Pinsler	Oleg Arenz
Control and Learning for a Bipedal Robot	Felix Treede, Phillip Konow, Manuel Bied	Roberto Calandra
Perceptual coupling with ProMPs	Johannes Geisler, Emmanuel Stapf	Alexandros Paraschos
Learning to balance with the iCub	Moritz Nakatenus, Jan Geukes	Roberto Calandra
Generalizing Models for a Compliant Robot	Mike Smyk	Herke van Hoof
Learning Minigolf with the BioRob	Florian Brandherm	Marco Ewerton
iCub Telecontrol	Lars Fritsche, Felix Unverzagt	Roberto Calandra
REPS for maneuvering in Robocup	Jannick Abbenseth, Nicolai Ommer	Christian Daniel
Learning Ball on a Beam on the KUKA lightweight arms	Bianca Loew, Daniel Wilberts	Christian Daniel
Sequencing of DMPs for Task- and Motion Planning	Markus Sigg, Fabian Faller	Rudolf Lioutikov
Tactile Exploration and Mapping	Thomas Arnreich, Janine Hoelscher	Tucker Hermans
Multiobjective Reinforcement Learning on Tetherball BioRob	Alexander Blank, Tobias Viernickel	Simone Parisi
Semi-supervised Active Grasp Learning	Simon Leischnig, Stefan Lüttgen	Oliver Kroemer