Home Teaching SS22 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 mandatory 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!

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 mandatory Introductory Meeting is taking place remotely via Zoom:

Date: 07.04.2022, Thursday, 09:00-10:00h

Zoom Link: https://uni-bonn.zoom.us/j/96613701147?pwd=NUQ1QXp0cTFzSDZ4cG5VUmUzZnBVQT09


Important dates:

07.04.2022, Thursday, 09:00-10:00h

Introductory Meeting (mandatory) presentation slides

10.04.2022, Sunday Registration deadline on our website
17.04.2022, Sunday Registration deadline in BASIS
05.07.2022, Tuesday Seminar Day and deadline for the written summary



The registration is closed.



  1. Predicting Pushing Action Effects on Spatial Object Relation
    Paus et al.
    ICRA 2020
    Supervisor: Maren Bennewitz
  2. Real-time Optimal Navigation Planning Using Learned Motion Costs
    Yang et al.
    ICRA 2021
    Supervisor: Maren Bennewitz
  3. Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion
    Kumagai et al.
    Humanoids 2018
    Supervisor:Marcell Missura
  4. VecSLAM: An Efficient Vector-Based SLAM Algorithm for Indoor Environments
    Sohn et al.
    JINT 2009
    Supervisor:Marcell Missura
  5. roboSLAM: Dense RGB-D SLAM for Humanoid Robots
    Hourdakis et al.
    IROS 2021
    Supervisor: Arindam Roychoudhury
  6. RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments
    Henry et al.
    Springer Tracts in Advanced Robotics 2014
    Supervisor: Arindam Roychoudhury
  7. Autonomous robotic stone stacking with online next best object target pose planning
    Furrer et al.
    ICRA 2017
    Supervisor: Benedikt Kreis
  8. Object Placement Planning and Optimization for Robot Manipulators
    Haustein et al.
    IROS 2019
    Supervisor: Benedikt Kreis
  9. Learning Human-Aware Robot Navigation from Physical Interaction via Inverse Reinforcement Learning
    Kollmitz et al.
    IROS 2020
    Supervisor: Jorge de Heuvel
  10. Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Mapless Navigation by Leveraging Prior Demonstrations
    Pfeiffer et al.
    RA-L 2018
    Supervisor: Jorge de Heuvel
  11. Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning
    Oleynikova et al.
    IROS 2017
    Supervisor: Tobias Zaenker
  12. An Efficient Sampling-based Method for Online Informative Path Planning in Unknown Environments
    Schmid et al.
    RA-L 2020
    Supervisor:Tobias Zaenker