Home Teaching WS2021 Master Seminar

Seminar (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 25 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 on 10.11.2020 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 be announced when more information is available. Changes to these directives will be announced here.

Zoom Information

Topic: HRL Introductory meeting
Time: Nov 10, 2020 09:00 AM Amsterdam, Berlin, Rome, Stockholm, Vienna

Join Zoom Meeting

Meeting ID: 958 0230 1059
Passcode: 257049



Important dates:

Tuesday, 10.11.2020, 09:00 - 10:00

Introductory meeting (introductory meeting)

Thursday, 12.11.2020, 12:00 Registration deadline on our website
Sunday, 15.11.2020 Registration deadline in BASIS (updated)
Wednesday, 20.01.2021 Seminar Day and deadline for the written summary



The registration is closed.



  1. Terrain Segmentation and Roughness Estimation using RGB Data: Path
    Planning Application on the CENTAURO Robot
    Suryamurthy et al.
    IEEE-RAS International Conference on Humanoid Robots, 2019.
    Supervisor: Maren Bennewitz
  2. DenseCAvoid: Real-time Navigation in Dense Crowds using Anticipatory Behaviors
    Sathyamoorthy et al.
    Arxiv Journal, 2020.
    Supervisor: Maren Bennewitz
  3. Traversable Region Estimation for Mobile Robots in an Outdoor Image
    Matsuzaki et al.
    Journal of Intelligent & Robotic Systems, 2018.
    Supervisor: Arindam Roychoudhury
  4. Fast cylinder and plane extraction from depth cameras for visual odometry
    Proença et al.
    International Conference on Intelligent Robots and Systems (IROS), 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. Autonomous 3-D Reconstruction, Mapping, and Exploration of Indoor Environments With a Robotic Arm
    Wang et al.
    IEEE Robotics and Automation Letters, 2019.
    Supervisor:Tobias Zaenker
  7. Gradient-driven online learning of bipedal push recovery
    Missura et al.
    IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.
    Supervisor:Marcell Missura
  8. Basin of attraction of the simplest walking model
    Schwab et al.
    Proceedings of the ASME design engineering technical conference, 2001.
    Supervisor:Marcell Missura
  9. Minimal Construct: Efficient Shortest Path Finding for Mobile Robots in Polygonal Maps
    Marcell Missura, Daniel D. Lee, and Maren Bennewitz
    International Conference on Intelligent Robots and Systems (IROS), 2018.
    Supervisor: Marcell Missura
  10. Deep Generative Modeling of LiDAR Data
    Gaccia et al.
    International Conference on Intelligent Robots and Systems (IROS), 2019.
    Supervisor: Christopher Gebauer
  11. World Models
    Ha et al.
    Conference on Neural Information Processing Systems, 2018.
    Supervisor: Christopher Gebauer
  12. Human-aware Robot Navigation based on Time-dependent Social
    Interaction Spaces: a use case for assistive robotics
    Vega-Magro et al.
    IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2020.
    Supervisor: Lilli Bruckschen
  13. Pedestrian Dominance Modeling for Socially-Aware Robot Navigation
    Randhavane et al.
    International Conference on Robotics and Automation (ICRA), 2019.
    Supervisor: Lilli Bruckschen