Home Teaching SS21 Master Seminar

Seminar Humanoid Robots (MA-INF 4213)

In this seminar, we cover state-of-the-art research papers from conferences and journals in the field of humanoid robotics and related fields. The available topics are presented in the Introductory Meeting and can be selected during the registration for the seminar on our website. In the Introductory Meeting, we will present the available topics, the registration process, the requirements, and answer your questions.

Participants of the seminar have to prepare a talk of 20 minutes which will be given on the Seminar Day at the end of the semester. After the talk, there will be a Q&A of about 5 minutes where you will be asked questions by the staff and other participants of the seminar. Bachelor students can choose to present their topic in German, master students must give their presentation in English.

The Seminar Day is a whole day event, typically from 8:30am to 3:30pm, which takes place towards the end of the semester. All participants are required to be present on the Seminar Day, to give their presentation, and also to listen to the talks of the other participants. Active participation during the Q&A sessions counts as a bonus towards your final score.

Participating students are also required to write a summary and discussion of their assigned topic. The summary and discussion should be written in LaTeX using the following template: seminar_template.tex The document should be 7 pages long not including images and references! Bachelor students can opt to write their summary in German.

Each participant will be paired up with a supervisor who monitors their progress and is available to help with questions or difficulties. Students can work freely during the semester to prepare their material. The written summary and the presentation slides must be submitted by the morning of the Seminar Day.


The Introductory Meeting is planned to take place remotely via zoom. Communications during the semester between supervisor and participant will be conducted via electronic means.The final presentation mode will also be remote using teleconferencing. Changes to these directives will be announced here.

Zoom Information

Topic: HRL Introductory meeting
Time: Apr 14, 2021 09:00 AM Amsterdam, Berlin, Rome, Stockholm, Vienna

Join Zoom Meeting

Meeting ID: 915 7887 5996
Passcode: 500806


Important dates:

14.04.2021, Wednesday,  09:00 - 10:00 am.

Introductory meeting (presentation)

18.04.2021, Sunday Registration deadline on our website
22.04.2021, Thursday Registration deadline in BASIS
13.07.2021, Wednesday Seminar Day and deadline for the written summary



UPDATE: Please wait for our confirmation mail before you register on BASIS. We will send you a confirmation mail on 19.04.2021. The registration is first come first serve up to the available number of participants. The topics are assigned according to the chosen priority. 

UPDATE: The registration is closed.



  1. Predicting Pushing Action Effects on Spatial Object Relation
    Paus, Huang, and Asfour
    IEEE Int. Conf. on Robotics and Automation (ICRA), 2020
    Supervisor: Maren Bennewitz
  2. Affordance-Based Mobile Robot Navigation Among Movable Obstacles
    Wang, Luo, Önol, and Padir
    IEEE-RAS Int. Conf. on Int. Robots and Systems (IROS), 2020
    Supervisor: Maren Bennewitz
  3. Autonomous Indoor Exploration via Polygon Map Construction and Graph-based SLAM Using Directional Endpoint Features
    Gao et al.
    IEEE Transactions on Automation Science and Engineering, 2018
    Supervisor: Arindam Roychoudhury
  4. Semantic modeling of indoor scenes with support inference from a single photograph
    Nie et al.
    Computer Animation and Virtual Worlds, 2018
    Supervisor: Arindam Roychoudhury
  5. Coverage Path Planning using Path Primitive Sampling and Primitive Coverage Graph for Visual Inspection
    Jing et al.
    IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019.
    Supervisor:Tobias Zaenker
  6. Multi-Robot Region-of-Interest Reconstruction
    Sukkar et al.
    ICRA 2019.
    Supervisor:Tobias Zaenker
  7. Detecting Usable Planar Regions for Legged Robot Locomotion
    Bertrand et al.
    IROS 2020.
    Supervisor:Marcell Missura
  8. Can I lift it? Humanoid robot reasoning about the feasibility of lifting a heavy box with unknown physical properties
    Han et al.
    IROS, 2020.
    Supervisor:Marcell Missura
  9. Robot Navigation in Crowded Environments Using Deep Reinforcement Learning
    Lucia Liu et al.
    International Conference on Intelligent Robots and Systems (IROS), 2020.
    Supervisor: Christopher Gebauer
  10. Deep Reinforcement Learning for Tactile Robotics:Learning to Type on a Braille Keyboard
    Alex Church et al.
    RA-L 2020.
    Supervisor: Christopher Gebauer