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 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 in person:

Date: 12.10.2022, 10:00-11:00h

Room: 2.025

Contact:

• Prof. Dr. Maren Bennewitz
• Course organization and registration: Benedikt Kreis

Important dates:

Registration

Registration is closed.

Topics:

1. Affordance Learning from Play for Sample-Efficient Policy Learning
   Borja-Diaz et al.
   ICRA 2022
   Supervisor: Maren Bennewitz
   [PDF]
2. Oriented Surface Reachability Maps for Robot Placement
   Birr et al.
   ICRA 2022
   Supervisor: Maren Bennewitz
   [PDF]
3. Real-Time Path Planning in Unknown Environments for Bipedal Robots
   Hildebrandt et al.
   RA-L 2017
   Supervisor: Arindam Roychoudhury
   [PDF]
4. Dynamic Maps for Long-Term Operation of Mobile Service Robots
   Biber and Duckett
   RSS 2005
   Supervisor: Arindam Roychoudhury
   [PDF]
5. 6D Robotic Assembly Based on RGB-only Object Pose Estimation
   Fu et al.
   IROS 2022
   Supervisor: Benedikt Kreis
   [PDF]
6. Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing
   Lach et al.
   arXiv Preprint 2022
   Supervisor: Benedikt Kreis
   [PDF]
7. A Behavioral Approach to Visual Navigation with Graph Localization Networks
   Chen et al.
   RSS 2019
   Supervisor: Jorge de Heuvel
   [PDF]
8. APPLD: Adaptive Planner Parameter Learning from Demonstration
   Xiao et al.
   RA-L 2020
   Supervisor: Jorge de Heuvel
   [PDF]
9. Pushing fast and slow: task-adaptive planning for non-prehensile manipulation under uncertainty
   Agboh and Dogar
   WAFR 2018
   Supervisor: Nils Dengler
   [PDF]
10. Robot, Organize my Shelves! Tidying up Objects by Predicting User Preferences
    Abdo et al.
    ICRA 2015
    Supervisor: Nils Dengler
    [PDF]
11. Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency 
    Schmid et al.
    ICRA 2022
    Supervisor: Rohit Menon
    [PDF]
12. Active Perception and Scene Modeling by Planning with Probabilistic 6D Object Poses
    Eidenberger and Scharinger
    IROS 2010
    Supervisor: Rohit Menon
    [PDF]