Publications
2024
Conferences
T. Daab, N. Jaquier, C. Dreher, A. Meixner, F. Krebs, and T. Asfour, “Incremental Learning of Full-Pose Via-Point Movement Primitives on Riemannian Manifolds,” in IEEE International Conference on Robotics and Automation
(ICRA), 2024, (accepted).
M. Dežman, C. Marquardt, and T. Asfour, “Ankle Exoskeleton with a Symmetric 3 DoF Structure for Plantarflexion Assistance,” in IEEE International Conference on Robotics and Automation (ICRA), 2024, (accepted).
J. Gao, X. Jin, F. Krebs, N. Jaquier, and T. Asfour, “Bi-KVIL: Keypoints-based Visual Imitation Learning of Bimanual Manipulation Tasks,” in IEEE International Conference on Robotics and Automation (ICRA), 2024, (accepted).
N. Jaquier, L. Rozo, and T. Asfour, “Unraveling the Single Tangent Space Fallacy: An Analysis and Clarification for Applying Riemannian Geometry in Robot Learning,” in IEEE International Conference on Robotics and Automation (ICRA), 2024, (accepted).
J. Plewnia, F. Peller-Konrad, and T. Asfour, “Forgetting in Episodic Long-Term Memory of Humanoid Robots,” in
IEEE International Conference on Robotics and Automation (ICRA), 2024, (accepted).
D. Schneider, M. Keller, Z. Zhong, K. Peng, A. Roitberg, J. Beyerer, and R. Stiefelhagen, “SynthAct: Towards Generalizable Human Action Recognition based on Synthetic Data,” in IEEE International Conference on Robotics and Automation (ICRA), 2024, (accepted).
J. Starke and T. Asfour, “Kinematic Synergy Primitives for Human-Like Grasp Motion Generation,” in IEEE International Conference on Robotics and Automation (ICRA), 2024, (accepted).
N. Hemken, F. Jacob, F. T ̈ernava, R. Kartmann, T. Asfour, and H. Hartenstein, “BlueSky: How to Raise a Robot — A Case for Neuro-Symbolic AI in Constrained Task Planning for Humanoid Assistive Robots,” in Proceedings of the 29th ACM Symposium on Access Control Models and Technologies, ser. SACMAT ’24, San Antonio, TX, US: Association for Computing Machinery, 2024.
M. Herzog, N. Riedel, M. Beyerlein, J. Weber, B. Deml, and T. Stein, “Adaptation Of Walking Patterns To Bilateral Loaded Walking,” in accepted, ISBS Conference Proceedings Archive / International Society of Biomechanics in Sports, University of Salzburg, Department of Sport and Exercise Science, Jul. 2024.
D. J. Lerch, Z. Zhong, M. Martin, M. Voit, and J. Beyerer, “Unsupervised 3D Skeleton-Based Action Recognition Using Cross-Attention With Conditioned Generation Capabilities,” in Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision Workshops, 2024, pp. 211–220.
N. Riedel, M. Herzog, T. Stein, and B. Deml, “Bewertung von Mensch-Exoskelett-Interaktionen hinsichtlich kognitiv-motorischer Leistungsparameter,” in Tagungsband 70. GfA-Fr ̈uhjahrskongress, GfA-Press, Mar. 2024.
Preprints
T. Birr, C. Pohl, A. Younes, and T. Asfour, AutoGPT+P: Affordance-based Task Planning with Large Language Models, 2024.
M. Braun, N. Jaquier, L. Rozo, and T. Asfour, Riemannian Flow Matching Policy for Robot Motion Learning, 2024.
C. Pohl, F. Reister, F. Peller-Konrad, and T. Asfour, MAkEable: Memory-centered and Affordance-based Task Execution Framework for Transferable Mobile Manipulation Skills, 2024.
2023
Journals
B. Barisch-Fritz, J. Krafft, S. Rayling, J. Diener, T. Möller, K. Wunsch, N. Riedel, M. Maia, N. Weinberger, J. Lefint, T. Asfour, J. Krell-Rösch, and A. Woll, “Are nursing home employees ready for the technical evolution? German-wide survey on the status quo of affinity for technology and technology interaction,” DIGITAL HEALTH, vol. 9, Jan. 2023.
J. Gao, Z. Tao, N. Jaquier, and T. Asfour, “K-VIL: Keypoints-based Visual Imitation Learning,” IEEE Transactions on Robotics, vol. 39, no. 5, pp. 3888–3908, 2023.
S. Helmstetter and S. Matthiesen, “Human posture estimation: A systematic review on force-based methods – analyzing the differences in required expertise and result benefits for their utilization,” Sensors, vol. 23, no. 21, 2023.
M. Herzog, F. C. Krafft, B. J. Stetter, A. d’Avella, L. H. Sloot, and T. Stein, “Rollator usage lets young individuals switch movement strategies in sit-to-stand and stand-to-sit tasks,” en, Sci Rep, vol. 13, no. 1, p. 16 901, Oct. 2023, Number: 1 Publisher: Nature Publishing Group.
R. Kartmann and T. Asfour, “Interactive and incremental learning of spatial object relations from human demonstrations,” Frontiers in Robotics and AI, vol. 10, pp. 1–14, 2023.
C. Klas and T. Asfour, “Reaching torque-velocity profiles of human muscles: The adaptive cycloidal linear drive,” IEEE/ASME Transactions on Mechatronics, pp. 1–10, 2023.
T. Moeller, F. Moehler, J. Krell-Roesch, M. Dežman, C. Marquardt, T. Asfour, T. Stein, and A. Woll, “Use of lower limb exoskeletons as an assessment tool for human motor performance: A systematic review,” Sensors, vol. 23, no. 6, 2023.
Conferences
L. Bärmann, R. Kartmann, F. Peller-Konrad, A. Waibel, and T. Asfour, “Incremental Learning of Humanoid Robot Behavior from Natural Interaction and Large Language Models,” in 2nd Workshop on Language and Robot Learning: Language as Grounding, at the 7th Conference on Robot Learning (CoRL), 2023.
N. Freymuth, N. Schreiber, A. Taranovic, P. Becker, and G. Neumann, “Inferring versatile behavior from demonstrations by matching geometric descriptors,” in Conference on Robot Learning, PMLR, 2023, pp. 1379–1389.
I. Fuerst-Walter, A. Nappi, T. Harbaum, and J. Becker, “Design space exploration on efficient and accurate human pose estimation from sparse imu-sensing,” in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, pp. 10 888–10 893.
N. Hemken, F. Jacob, F. Peller-Konrad, R. Kartmann, T. Asfour, and H. Hartenstein, “Poster: How to raise a robot - beyond access control constraints in assistive humanoid robots,” in Proceedings of the 28th ACM Symposium on Access Control Models and Technologies, ser. SACMAT ’23, Trento, Italy: Association for Computing Machinery, 2023, pp. 55–57.
H. Klein, N. Jaquier, A. Meixner and Tamim Asfour, “On the Design of Region-Avoiding Metrics for Collision-Safe Motion Generation on Riemannian Manifolds,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, pp. 2346–2353.
F. Hundhausen, S. Hubschneider, and T. Asfour, “Grasping with Humanoid Hands based on In-Hand Vision and Hardware-accelerated CNNs,” in IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2023, pp. 1–7.
C. Klas, A. Meixner, D. Ruffler, and T. Asfour, “On the Actuator Requirements for Human-Like Execution of
Retargeted Human Motion on Humanoid Robots,” in IEEE/RAS International Conference on Humanoid Robots
(Humanoids), 2023, pp. 1–8.
F. Krebs, L. Leven, and T. Asfour, “Recognition of Bimanual Manipulation Categories in RGB-D Human Demonstration,” in IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2023, pp. 1–8.
M. X. Li, O. Celik, P. Becker, D. Blessing, R. Lioutikov, and G. Neumann, “Curriculum-based imitation of versatile skills,” in 2023 International Conference on Robotics and Automation (ICRA), 2023, pp. 2951–2957.
D. Prossel and U. D. Hanebeck, “Progressive Particle Filtering Using Projected Cumulative Distributions,” in Proceedings of the combined IEEE 2023 Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI 2023), Bonn, Germany, Nov. 2023.
N. Riedel, M. Herzog, T. Stein, and B. Deml, “Effects of modified leg mechanics on cognitive performance and workload during dual-task walking,” in Proceedings of the Human Factors and Ergonomics Society Europe Chapter 2023 Annual Conference, D. de Waard, V. Hagemann, L. Onnasch, A. Toffetti, D. Coelho, A. Botzer, M. de Angelis, K. Brookhuis, and S. Fairclough, Eds., 2023, pp. 197–211.
S. Sutschet, C. Spengler, and S. Matthiesen, “Ergonomic optimization of human-machine systems in virtual environments – a systematic literature review identifying research gaps,” in DS 125: Proceedings of the 34th Symposium Design for X (DFX2023). Ed.: D. Krause, (Radebeul, Deutschland, Sep. 14–15, 2023), The Design Society, 2023, pp. 095–104.
Z. Zhong, D. Schneider, M. Voit, R. Stiefelhagen, and J. Beyerer, “Anticipative feature fusion transformer for multi-modal action anticipation,” in Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Jan. 2023.
2022
Journals
M. Dežman, T. Asfour, A. Ude, and A. Gams, “Mechanical design and friction modelling of a cable-driven upper-limb exoskeleton,” Mechanism and Machine Theory, vol. 171, p. 104 746, 2022.
N. Freymuth, N. Schreiber, P. Becker, A. Taranovic, and G. Neumann, “Inferring versatile behavior from demonstrations by matching geometric descriptors,” 6th Conference on Robot Learning (CoRL), 2022.
N. Jaquier, Y. Zhou, J. Starke, and T. Asfour, “Learning to sequence and blend robot skills via differentiable optimization,” IEEE Robotics and Automation Letters (RA-L), vol. 7, pp. 8431–8438, 3 2022.
F. Krebs and T. Asfour, “A bimanual manipulation taxonomy,” IEEE Robotics and Automation Letters (RA-L), 2022.
T. Moeller, J. Krell-Roesch, A. Woll, and T. Stein, “Effects of upper-limb exoskeletons designed for use in the working environment—a literature review,” Frontiers in Robotics and AI, vol. 9, p. 858 893, 2022.
T. Röddiger, C. Clarke, P. Breitling, T. Schneegans, H. Zhao, H. Gellersen, and M. Beigl, “Sensing with earables: A systematic literature review and taxonomy of phenomena,” Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies, vol. 6, no. 3, Sep. 2022.
P. Weiner, J. Starke, S. Rader, F. Hundhausen, and T. Asfour, “Designing prosthetic hands with embodied intelligence: The kit prosthetic hands,” Frontiers in Neurorobotics, vol. 16, p. 815 716, 2022.
Conferences
C. Dreher and T. Asfour, “Learning temporal task models from human bimanual demonstrations,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 7664–7671.
S. Helmstetter, S. Sutschet, C. Spengler, F. M ̈ohler, M. Herzog, T. Stein, and S. Matthiesen, “Parametric scaling of a lower limb model according to body height in opensim,” in Human Interaction and Emerging Technologies (IHIET 2022): Artificial Intelligence and Future Applications, ser. AHFE International, AHFE International, 2022.
F. Jacob, S. Bayreuther, and H. Hartenstein, “On crdts in byzantine environments: Conflict freedom, equivocation tolerance, and the matrix replicated data type,” in SICHERHEIT 2022, Bonn: Gesellschaft f ̈ur Informatik e.V., 2022.
N. Jaquier and T. Asfour, “Riemannian geometry as a unifying theory for robot motion learning and control,” in International Symposium on Robotics Research (ISRR), Geneva, Switzerland, Sep. 2022.
N. Jaquier, L. Rozo, M. Gonz ́alez-Duque, V. Borovitskiy, and T. Asfour, “Bringing robotics taxonomies to continuous domains via gplvm on hyperbolic manifolds,” in Under review, arXiv preprint, 2022.
C. Klas and T. Asfour, “A compact, lightweight and singularity-free wrist joint mechanism for humanoid robots,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 457–464.
H. Klein, N. Jaquier, A. Meixner, and T. Asfour, “A riemannian take on human motion analysis and retargeting,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
F. Kreß, J. Hoefer, T. Hotfilter, I. Walter, E. M. El Annabi, T. Harbaum, and J. Becker, “Automated search for deep neural network inference partitioning on embedded fpga,” Springer International Publishing, 2022.
Z. Marinov, A. Roitberg, D. Schneider, and R. Stiefelhagen, “Modselect: Automatic modality selection for synthetic-to-real domain generalization,” in Proceedings of the European Conference on Computer Vision (ECCV) Workshops, Oct. 2022.
Z. Marinov, D. Schneider, A. Roitberg, and R. Stiefelhagen, “Multimodal generation of novel action appearances for synthetic-to-real recognition of activities of daily living,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2022.
C. Marquardt, P. Weiner, M. Dežman, and T. Asfour, “Embedded barometric pressure sensor unit for force myography in exoskeletons,” in IEEE/RAS International Conference on Humanoid Robots (Humanoids), Okinawa, Japan, Nov. 2022.
T. Möller, F. Möhler, J. Krell-Rösch, T. Stein, and A. Woll, “Lower limb exoskeletons as an assessment tool for motor performance: A systematic review,” in Jahrestagung der dvs-Sektion Sportmotorik, 2022.
M. P. Sartorius and P. von Both, “Rule-based design for the integration of humanoid assistance robotics into the living environment of senior citizens,” in Co-Creating the Future: Inclusion in and through Design (eCAADe), 2022, pp. 367–376.
S. Bayreuther, F. Jacob, M. Grotz, R. Kartmann, F. Peller-Konrad, F. Paus, H. Hartenstein, and T. Asfour, “Combining Task Planning and Activity-Centric Access Control for Assistive Humanoid Robots,” in Symposium on Access Control Models and Technologies (SACMAT), 2022.
D. Schneider, S. Sarfraz, A. Roitberg, and R. Stiefelhagen, “Pose-based contrastive learning for domain agnostic activity representations,” in Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, Jun. 2022, pp. 3433–3443.
H. Zhao, A. Scholz, M. Beigl, S. Ni, S. A. Singaraju, and J. Aghassi-Hagmann, “Printed electrodermal activity sensor with optimized filter for stress detection,” in Proceedings of the 2022 ACM International Symposium on Wearable Computers, 2022, pp. 112–114.
H. Zhao, Y. Zhou, T. Riedel, M. Hefenbrock, and M. Beigl, “Improving human activity recognition models by learnable sparse wavelet layer,” in Proceedings of the 2022 ACM International Symposium on Wearable Computers, 2022, pp. 84–88.
Y. Zhou, H. Zhao, Y. Huang, M. Hefenbrock, T. Riedel, and M. Beigl, “TinyHAR: A Lightweight Deep Learning Model Designed for Human Activity Recognition,” in International Symposium on Wearable Computers (ISWC), Sep. 2022.
2021
Conferences
N. Jaquier, V. Borovitskiy, A. Smolensky, A. Terenin, T. Asfour, and L. Rozo, “Geometry-aware bayesian optimization in robotics using riemannian mat ́ern kernels,” in Conference on Robot Learning (CoRL), London, United Kingdom, Nov. 2021.
A. Roitberg, D. Schneider, A. Djamal, C. Seibold, S. Reiß, and R. Stiefelhagen, “Let’s play for action: Recognizing activities of daily living by learning from life simulation video games,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2021.
J. Starke, M. Keller, and T. Asfour, “Temporal force synergies in human grasping,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, Sep. 2021, pp. 3940–3947.
P. Weiner, F. Hundhausen, R. Grimm, and T. Asfour, “Detecting grasp phases and adaption of object-hand interaction forces of a soft humanoid hand based on tactile feedback,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, Sep. 2021, pp. 3956–3963.
Z. Weng, F. Paus, A. Varava, H. Yin, T. Asfour, and D. Kragic, “Graph-based task-specific prediction models for interactions between deformable and rigid objects,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, Sep. 2021, pp. 5453–5460