Seminar Humanoid Robots

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 template listed below under files. 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.

Semester:

SS

Year:

2024

Course Number:

MA-INF 4213

Links:

Basis

Course Start Date:

16.04.2024

Course End Date:

04.07.2024

ECTS:

4

Responsible HRL Lecturers:

Prof.Dr. Maren Bennewitz

M.Sc. Benedikt Kreis


Important dates:

All interested students have to attend the Introductory Meeting. In the Introductory Meeting, we will present the topics, the schedule, the registration process, and answer your questions.

16.04.2024, Tuesday, 10:30hs-11:30hs (room 0.107)

Introductory Meeting (mandatory) [Slides]

21.04.2024, SundayRegistration deadline on our website
25.04.2024, ThursdayRegistration deadline in BASIS
04.07.2024, Thursday, 09:30hs-12:40hs (room 0.107)Seminar Day and written summary deadline

After the Introductory Meeting, each participant arranges an individual schedule with the respective supervisor.

Registration

Registration is closed.

Report template

Please use the following template for the written summary:
Report template

Topics:

  1. Pick2Place: Task-aware 6DoF Grasp Estimation via Object-Centric Perspective Affordance
    He et al.
    ICRA 2023
    Supervisor: Benedikt Kreis
    [PDF]
  2. VisuoTactile 6D Pose Estimation of an In-Hand Object using Vision and Tactile Sensor Data
    Dikhale et al.
    RA-L 2022
    Supervisor: Benedikt Kreis
    [PDF]
  3. VARIQuery: VAE Segment-based Active Learning for Query Selection in Preference-based Reinforcement Learning
    Marta et al.
    IROS 2023
    Supervisor: Jorge de Heuvel
    [PDF]
  4. Efficient push-grasping for multiple target objects in clutter environments
    Wu et al.
    Front. Neurorobot. 2023
    Supervisor: Nils Dengler
    [PDF]
  5. Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity
    Zhou et al.
    CoRL 2022
    Supervisor: Nils Dengler
    [PDF]
  6. Active-Perceptive Motion Generation for Mobile Manipulation
    Jauhri et al.
    ICRA 2024
    Supervisor: Rohit Menon
    [PDF]
  7. Multi-View Picking: Next-best-view Reaching for Improved Grasping in Clutter
    Morrison et al.
    ICRA 2019
    Supervisor: Rohit Menon
    [PDF]
  8. A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
    Sleiman et al.
    RA-L 2021
    Supervisor: Shahram Khorshidi
    [PDF]
  9. Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
    Zhang et al.
    ICRA 2024
    Supervisor: Shahram Khorshidi
    [PDF]
  10. NBV/NBC Planning Considering Confidence Obtained From Shape Completion Learning
    Liu et al.
    RA-L 2024
    Supervisor: Sicong Pan
    [PDF]
  11. FisherRF: Active View Selection and Uncertainty Quantification for Radiance Fields using Fisher Information
    Jiang et al.
    arXiv preprint 2023
    Supervisor: Sicong Pan
    [PDF]
  12. SACSoN: Scalable Autonomous Control for Social Navigation
    Hirose et al.
    RA-L 2024
    Supervisor: Subham Agrawal
    [PDF]
  13. Closed-Loop Next-Best-View Planning for Target-Driven Grasping
    Breyer et al.
    IROS 2022
    Supervisor: Tobias Zaenker
    [PDF]
  14. Semantic Trajectory Planning for Long-Distant Unmanned Aerial Vehicle Navigation in Urban Environments
    Ryll et al.
    IROS 2020
    Supervisor: Tobias Zaenker
    [PDF]