Cristiana de Farias

Research Interests

Dexterous Manipulation, Tactile Sensing, Control, Active perception, Robot Leaning, Geometric Methods

Contact Information

cristiana.farias@tu-darmstadt.de
Room E304, Building S2|02, TU Darmstadt, FB-Informatik, FG-IAS, Hochschulstr. 10, 64289 Darmstadt

Cristiana de Farias joined the Intelligent Autonomous Systems lab at TU Darmstadt in October 2024 as a postdoctoral researcher. Her primary research interests are in the coupling between robotic dexterity and perception, focusing on active and uncertainty-aware approaches, together with representation learning and control. She is interested in how vision and touch can be tightly coupled to support efficient exploration and robust skill acquisition in complex, unstructured environments.

Previously, Cristiana did her PhD at the University of Birmingham under the supervision of Prof. Rustam Stolkion and Dr. Naresh Marturi at the Extreme Robotics Lab. There, she studied how different sensory inputs can be used for data-efficient object understanding for manipulation actions, such as tactile exploration and skill learning. Before that, she completed both her MsC in Control and Automation and BsC in Control and Automation Engineering at the University of Brasilia, where she worked at the Laboratory of Control and Automation, focusing on singularity avoidance and kinematic and dynamic modeling using dual quaternion algebra.

Publications

  •       Bib
    Helmut, E.; Funk, N.; Schneider, T.; de Farias, C.; Peters, J. (2026). Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation, IEEE International Conference on Robotics and Automation (ICRA).
  •     Bib
    Schneider, T.; de Farias, C.; Calandra, R.; Chen, L.; Peters, J. (2026). APPLE: Toward General Active Perception via Reinforcement Learning, International Conference on Learning Representations (ICLR).
  •       Bib
    Helmut, E.; Funk, N.; Schneider, T.; de Farias, C.; Peters, J. (2026). FARM: Force-Aware Robotic Manipulation with Tactile-Conditioned Diffusion Policies, German Robotics Conference (GRC).
  •       Bib
    Cai, Y.; Jansonnie, P.; Arenz, O.; de Farias, C.; Peters, J. (2026). GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins, IEEE International Conference on Robotics and Automation (ICRA).
  •     Bib
    Schneider, T.; de Farias, C.; Calandra, R.; Chen L.; Peters, J. (2025). Active Perception for Tactile Sensing: A Task-Agnostic Attention-Based Approach, German Robotics Conference (GRC).
  •     Bib
    De Farias, C.; Tamadazte, B.; Adjigble, M.; Stolkin, R.; Marturi, N. (2024). Task-informed grasping of partially observed objects, IEEE Robotics and Automation Letters.
  •       Bib
    De Farias, C.; Marturi, N.; Stolkin, R.; Bekiroglu, Y. (2021). Simultaneous Tactile Exploration and Grasp Refinement for Unknown Objects, IEEE Robotics and Automation Letters, 6, 2, pp.3349-3356.
  •     Bib
    Adjigble, M.; Tamadazte, B.; de Farias, C.; Stolkin, R.; Marturi, N. (2023). 3D Spectral Domain Registration-Based Visual Servoing, 2023 IEEE International Conference on Robotics and Automation (ICRA).
  •     Bib
    De Farias, C.; Tamadazte, B.; Stolkin, R.; Marturi, N. (2022). Grasp Transfer for Deformable Objects by Functional Map Correspondence, 2022 International Conference on Robotics and Automation (ICRA).
  •       Bib
    Adjigble, M.; de Farias, C.; Stolkin, R.; Marturi, N. (2021). SpectGRASP: Robotic Grasping by Spectral Correlation, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
  •       Bib
    De Farias, C.; Adjigble, M.; Tamadazte, B. ; Stolkin, R. and Marturi, N. (2021). Dual Quaternion-Based Visual Servoing for Grasping Moving Objects, IEEE 17th International Conference on Automation Science and Engineering (CASE), pp.151-158.
  •       Bib
    De Farias, C.; Marturi, N.; Stolkin, R.; Bekiroglu, Y. (2021). Simultaneous Tactile Exploration and Grasp Refinement for Unknown Objects, IEEE Robotics and Automation Letters, 6, 2, pp.3349-3356.
  •     Bib
    De Farias, C.; Figueredo, L.; Yoshiyuki, J. (2019). Performance Study on dqRNEA – A Novel Dual Quaternion Based Recursive Newton-Euler Inverse Dynamics Algorithms, 2019 Third IEEE International Conference on Robotic Computing (IRC).
  •     Bib
    De Farias, C.;Rocha, Y.; Figueredo, L.; Bernardes, M. (2017). Design of singularity-robust and task-priority primitive controllers for cooperative manipulation using dual quaternion representation, 2017 IEEE Conference on Control Technology and Applications (CCTA).

Supervised Theses

  •     Bib
    Helmut, E. (2025). Learning Visuotactile Grasping Policies from Demonstration Data, Master Thesis.