Publications

2024

1. 

   Learning to Look: Seeking Information for Decision Making via Policy Factorization

   Shivin Dass, Jiaheng Hu, Ben Abbatematteo, Peter Stone, and Roberto Martı́n-Martı́n

   In Conference on Robot Learning (CoRL), 2024

   arXiv Bib Website

   @inproceedings{dass2024l2l,
     title = {Learning to Look: Seeking Information for Decision Making via Policy Factorization},
     author = {Dass, Shivin and Hu, Jiaheng and Abbatematteo, Ben and Stone, Peter and Mart{\'\i}n-Mart{\'\i}n, Roberto},
     booktitle = {Conference on Robot Learning (CoRL)},
     year = {2024},
   }

2. 

   BUMBLE: Unifying Reasoning and Acting with Vision-Language Models for Building-wide Mobile Manipulation

   Rutav Shah, Albert Yu, Yifeng Zhu, Yuke Zhu*, and Roberto Martı́n-Martı́n*

   arXiv preprint, 2024

   arXiv Bib Code Website

   @article{shah2024bumble,
     title = {BUMBLE: Unifying Reasoning and Acting with Vision-Language Models for Building-wide Mobile Manipulation},
     author = {Shah, Rutav and Yu, Albert and Zhu, Yifeng and Zhu*, Yuke and Mart{\'\i}n-Mart{\'\i}n*, Roberto},
     journal = {arXiv preprint},
     year = {2024},
   }

3. 

   BaRiFlex: A Robotic Gripper with Versatility and Collision Robustness for Robot Learning

   Gu-Cheol Jeong, Arpit Bahety, Gabriel Pedraza, Ashish D. Deshpande, and Roberto Martín-Martín

   In International Conference on Intelligent Robots and Systems (IROS), 2024

   Best Paper Award on Robot Mechanisms and Designs

   arXiv Bib Website

   @inproceedings{jeong_bariflex_2023,
     title = {BaRiFlex: A Robotic Gripper with Versatility and Collision Robustness for Robot Learning},
     author = {Jeong, Gu-Cheol and Bahety, Arpit and Pedraza, Gabriel and Deshpande, Ashish D. and Mart{\'i}n-Mart{\'i}n, Roberto},
     booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
     year = {2024},
     award = {Best Paper Award on Robot Mechanisms and Designs}
   }

4. 

   KinScene: Model-Based Mobile Manipulation of Articulated Scenes

   Cheng-Chun Hsu, Ben Abbatematteo, Zhenyu Jiang, Yuke Zhu, Roberto Martín-Martín, and Joydeep Biswas

   In ICRA Workshops: Mobile Manipulation and Embodied Intelligence; A Future Roadmap for Sensorimotor Skill Learning, 2024

   arXiv Bib Website

   @inproceedings{hsu2024kinscene,
     title = {KinScene: Model-Based Mobile Manipulation of Articulated Scenes},
     author = {Hsu, Cheng-Chun and Abbatematteo, Ben and Jiang, Zhenyu and Zhu, Yuke and Mart{\'i}n-Mart{\'i}n, Roberto and Biswas, Joydeep},
     year = {2024},
     booktitle = {ICRA Workshops: Mobile Manipulation and Embodied Intelligence; A Future Roadmap for Sensorimotor Skill Learning},
   }

5. 

   ScrewMimic: Bimanual Imitation from Human Videos with Screw Space Projection

   Arpit Bahety, Priyanka Mandikal, Ben Abbatematteo, and Roberto Martı́n-Martı́n

   In Robotics: Science and Systems (RSS), 2024

   Outstanding Student Paper Finalist

   arXiv Bib Code Website

   @inproceedings{bahety2024screwmimic,
     title = {ScrewMimic: Bimanual Imitation from Human Videos with Screw Space Projection},
     author = {Bahety, Arpit and Mandikal, Priyanka and Abbatematteo, Ben and Mart{\'\i}n-Mart{\'\i}n, Roberto},
     booktitle = {Robotics: Science and Systems (RSS)},
     year = {2024},
     award = {Outstanding Student Paper Finalist}
   }

6. 

   Natural Language Can Help Bridge the Sim2Real Gap

   Albert Yu, Adeline Foote, Raymond Mooney, and Roberto Martı́n-Martı́n

   In Robotics: Science and Systems (RSS), 2024

   arXiv Bib Website

   @inproceedings{yu2024lang4sim2real,
     title = {Natural Language Can Help Bridge the Sim2Real Gap},
     author = {Yu, Albert and Foote, Adeline and Mooney, Raymond and Mart{\'\i}n-Mart{\'\i}n, Roberto},
     booktitle = {Robotics: Science and Systems (RSS)},
     year = {2024},
   }

7. 

   TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation

   Shivin Dass, Wensi Ai, Yuqian Jiang, Samik Singh, Jiaheng Hu, Ruohan Zhang, Peter Stone, Ben Abbatematteo, and Roberto Martín-Martín

   arXiv preprint, 2024

   arXiv Bib Code Website

   @article{dass2024telemoma,
     title = {TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation},
     author = {Dass, Shivin and Ai, Wensi and Jiang, Yuqian and Singh, Samik and Hu, Jiaheng and Zhang, Ruohan and Stone, Peter and Abbatematteo, Ben and Mart{\'i}n-Mart{\'i}n, Roberto},
     year = {2024},
     journal = {arXiv preprint},
   }

8. 

   DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset

   DROID Dataset Team

   In International Conference on Robotics and Automation (ICRA), 2024

   arXiv Bib Code Website

   @inproceedings{khazatsky2024droid,
     title = {DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset},
     author = {Team, DROID Dataset},
     booktitle = {International Conference on Robotics and Automation (ICRA)},
     year = {2024},
   }

9. 

   Open X-Embodiment: Robotic Learning Datasets and RT-X Models

   Open X-Embodiment Collaboration

   In International Conference on Robotics and Automation (ICRA), 2024

   arXiv Bib Code Website

   @inproceedings{open_x_embodiment_rt_x_2023,
     title = {Open {X-E}mbodiment: Robotic Learning Datasets and {RT-X} Models},
     author = {Collaboration, Open X-Embodiment},
     year = {2024},
     booktitle = {International Conference on Robotics and Automation (ICRA)},
   }

10. 

    Model-Based Runtime Monitoring with Interactive Imitation Learning

    Huihan Liu, Shivin Dass, Roberto Martín-Martín, and Yuke Zhu

    In IEEE International Conference on Robotics and Automation (ICRA), 2024

    arXiv Bib Code Website

    @inproceedings{liu2023modelbased,
      title = {Model-Based Runtime Monitoring with Interactive Imitation Learning},
      author = {Liu, Huihan and Dass, Shivin and Mart{\'i}n-Mart{\'i}n, Roberto and Zhu, Yuke},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2024},
    }

2023

1. M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain Transfer

   Bohan Wu, Roberto Martin-Martin, and Li Fei-Fei

   In International Conference on Robotics and Automation (ICRA), 2023

   arXiv

2. 

   Mini-BEHAVIOR: A Procedurally Generated Benchmark for Long-horizon Decision-Making in Embodied AI

   Emily Jin*, Jiaheng Hu*, Zhuoyi Huang, Ruohan Zhang, Jiajun Wu, Fei-Fei Li, and Roberto Martín-Martín

   arXiv preprint, 2023

   arXiv Bib Code

   @article{jin2023minibehavior,
     title = {Mini-BEHAVIOR: A Procedurally Generated Benchmark for Long-horizon Decision-Making in Embodied AI},
     author = {Jin*, Emily and Hu*, Jiaheng and Huang, Zhuoyi and Zhang, Ruohan and Wu, Jiajun and Li, Fei-Fei and Mart{\'i}n-Mart{\'i}n, Roberto},
     year = {2023},
     journal = {arXiv preprint},
   }

3. 

   ELDEN: Exploration via Local Dependencies

   Zizhao Wang*, Jiaheng Hu*, Peter Stone, and Roberto Martín-Martín

   In Neural Information Processing Systems (NeurIPS), 2023

   arXiv Bib

   @inproceedings{wang2023elden,
     title = {ELDEN: Exploration via Local Dependencies},
     author = {Wang*, Zizhao and Hu*, Jiaheng and Stone, Peter and Mart{\'i}n-Mart{\'i}n, Roberto},
     booktitle = {Neural Information Processing Systems (NeurIPS)},
     year = {2023},
   }

4. 

   MUTEX: Learning Unified Policies from Multimodal Task Specifications

   Rutav Shah, Roberto Martín-Martín*, and Yuke Zhu*

   In Conference on Robot Learning (CoRL), 2023

   arXiv Bib Code Website

   @inproceedings{shah2023mutex,
     title = {MUTEX: Learning Unified Policies from Multimodal Task Specifications},
     author = {Shah, Rutav and Mart{\'i}n-Mart{\'i}n*, Roberto and Zhu*, Yuke},
     booktitle = {Conference on Robot Learning (CoRL)},
     year = {2023},
   }

5. 

   Principles and guidelines for evaluating social robot navigation algorithms

   Anthony Francis, Claudia Pérez-d’Arpino, Chengshu Li, Fei Xia, Alexandre Alahi, Rachid Alami, Aniket Bera, Abhijat Biswas, Joydeep Biswas, Rohan Chandra, and Roberto Martín-Martín

   arXiv preprint, 2023

   arXiv

6. 

   Modeling dynamic environments with scene graph memory

   Andrey Kurenkov, Michael Lingelbach, Tanmay Agarwal, Emily Jin, Chengshu Li, Ruohan Zhang, Li Fei-Fei, Jiajun Wu, Silvio Savarese, and Roberto Martín-Martín

   In International Conference on Machine Learning (ICML), 2023

   Bib Paper Code Website

   @inproceedings{kurenkov2023modeling,
     title = {Modeling dynamic environments with scene graph memory},
     author = {Kurenkov, Andrey and Lingelbach, Michael and Agarwal, Tanmay and Jin, Emily and Li, Chengshu and Zhang, Ruohan and Fei-Fei, Li and Wu, Jiajun and Savarese, Silvio and Mart{\'i}n-Mart{\'i}n, Roberto},
     booktitle = {International Conference on Machine Learning (ICML)},
     pages = {17976--17993},
     year = {2023},
     organization = {PMLR},
   }

7. 

   Causal Policy Gradient for Whole-Body Mobile Manipulation

   Jiaheng Hu, Peter Stone, and Roberto Martín-Martín

   In Robotics: Science and Systems (RSS), 2023

   arXiv Bib Code Poster Website

   @inproceedings{hu2023causal,
     title = {Causal Policy Gradient for Whole-Body Mobile Manipulation},
     author = {Hu, Jiaheng and Stone, Peter and Mart{\'i}n-Mart{\'i}n, Roberto},
     booktitle = {Robotics: Science and Systems (RSS)},
     year = {2023},
   }

8. 

   MaskViT: Masked visual pre-training for video prediction

   Agrim Gupta, Stephen Tian, Yunzhi Zhang, Jiajun Wu, Roberto Martín-Martín, and Li Fei-Fei

   In ICLR, 2023

   Bib Paper

   @inproceedings{gupta2022maskvit,
     title = {MaskViT: Masked visual pre-training for video prediction},
     author = {Gupta, Agrim and Tian, Stephen and Zhang, Yunzhi and Wu, Jiajun and Mart{\'i}n-Mart{\'i}n, Roberto and Fei-Fei, Li},
     booktitle = {ICLR},
     year = {2023},
   }

9. 

   Model-Agnostic Hierarchical Attention for 3D Object Detection

   Manli Shu, Le Xue, Ning Yu, Roberto Martín-Martín, Juan Carlos Niebles, Caiming Xiong, and Ran Xu

   arXiv preprint arXiv:2301.02650, 2023

   Bib

   @article{shu2023model,
     title = {Model-Agnostic Hierarchical Attention for 3D Object Detection},
     author = {Shu, Manli and Xue, Le and Yu, Ning and Mart{\'i}n-Mart{\'i}n, Roberto and Niebles, Juan Carlos and Xiong, Caiming and Xu, Ran},
     journal = {arXiv preprint arXiv:2301.02650},
     year = {2023},
   }

2022

1. 

   BEHAVIOR-1k: A benchmark for embodied ai with 1,000 everyday activities and realistic simulation

   Chengshu Li, Ruohan Zhang, Josiah Wong, Cem Gokmen, Sanjana Srivastava, Roberto Martín-Martín, Chen Wang, Gabrael Levine, Michael Lingelbach, Jiankai Sun, and  others

   In 6th Annual Conference on Robot Learning, 2022

   Bib Paper

   @inproceedings{li2022behavior,
     title = {BEHAVIOR-1k: A benchmark for embodied ai with 1,000 everyday activities and realistic simulation},
     author = {Li, Chengshu and Zhang, Ruohan and Wong, Josiah and Gokmen, Cem and Srivastava, Sanjana and Mart{\'i}n-Mart{\'i}n, Roberto and Wang, Chen and Levine, Gabrael and Lingelbach, Michael and Sun, Jiankai and others},
     booktitle = {6th Annual Conference on Robot Learning},
     year = {2022},
   }

2. 

   Retrospectives on the embodied ai workshop

   Matt Deitke, Dhruv Batra, Yonatan Bisk, Tommaso Campari, Angel X Chang, Devendra Singh Chaplot, Changan Chen, Claudia Pérez D’Arpino, Kiana Ehsani, Ali Farhadi, and  others

   arXiv preprint arXiv:2210.06849, 2022

   Bib Paper

   @article{deitke2022retrospectives,
     title = {Retrospectives on the embodied ai workshop},
     author = {Deitke, Matt and Batra, Dhruv and Bisk, Yonatan and Campari, Tommaso and Chang, Angel X and Chaplot, Devendra Singh and Chen, Changan and D'Arpino, Claudia P{\'e}rez and Ehsani, Kiana and Farhadi, Ali and others},
     journal = {arXiv preprint arXiv:2210.06849},
     year = {2022},
   }

3. ULIP: Learning Unified Representation of Language, Image and Point Cloud for 3D Understanding

   Le Xue, Mingfei Gao, Chen Xing, Roberto Martín-Martín, Jiajun Wu, Caiming Xiong, Ran Xu, Juan Carlos Niebles, and Silvio Savarese

   arXiv preprint arXiv:2212.05171, 2022

   Bib

   @article{xue2022ulip,
     title = {ULIP: Learning Unified Representation of Language, Image and Point Cloud for 3D Understanding},
     author = {Xue, Le and Gao, Mingfei and Xing, Chen and Mart{\'i}n-Mart{\'i}n, Roberto and Wu, Jiajun and Xiong, Caiming and Xu, Ran and Niebles, Juan Carlos and Savarese, Silvio},
     journal = {arXiv preprint arXiv:2212.05171},
     year = {2022},
   }

4. Eye-BEHAVIOR: An Eye-Tracking Dataset for Everyday Household Activities in Virtual, Interactive, and Ecological Environments

   Cem Gokmen, Ruohan Zhang, Sanjana Srivastava, Chengshu Li, Michael Lingelbach, Roberto Martín-Martín, Silvio Savarese, Jiajun Wu, and Li Fei-Fei

   Journal of Vision, 2022

   Bib

   @article{gokmen2022eye,
     title = {Eye-BEHAVIOR: An Eye-Tracking Dataset for Everyday Household Activities in Virtual, Interactive, and Ecological Environments},
     author = {Gokmen, Cem and Zhang, Ruohan and Srivastava, Sanjana and Li, Chengshu and Lingelbach, Michael and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio and Wu, Jiajun and Fei-Fei, Li},
     journal = {Journal of Vision},
     volume = {22},
     number = {14},
     pages = {3819--3819},
     year = {2022},
     publisher = {The Association for Research in Vision and Ophthalmology},
   }

5. Generating Procedural 3D materials from Images using Neural Networks

   Lyne P Tchapmi, Trishiet Ray, Micael Tchapmi, Bokui Shen, Roberto Martín-Martín, and Silvio Savarese

   In 2022 4th International Conference on Image, Video and Signal Processing, Jan 2022

   Bib

   @inproceedings{tchapmi2022generating,
     title = {Generating Procedural 3D materials from Images using Neural Networks},
     author = {Tchapmi, Lyne P and Ray, Trishiet and Tchapmi, Micael and Shen, Bokui and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio},
     booktitle = {2022 4th International Conference on Image, Video and Signal Processing},
     pages = {32--40},
     year = {2022},
     month = jan,
   }

6. BEHAVIOR in Habitat 2.0: Simulator-Independent Logical Task Description for Benchmarking Embodied AI Agents

   Ziang Liu, Roberto Martín-Martín, Fei Xia, Jiajun Wu, and Li Fei-Fei

   arXiv preprint arXiv:2206.06489, Jan 2022

   Bib

   @article{liu2022behavior,
     title = {BEHAVIOR in Habitat 2.0: Simulator-Independent Logical Task Description for Benchmarking Embodied AI Agents},
     author = {Liu, Ziang and Mart{\'i}n-Mart{\'i}n, Roberto and Xia, Fei and Wu, Jiajun and Fei-Fei, Li},
     journal = {arXiv preprint arXiv:2206.06489},
     year = {2022},
   }

2021

1. ReLMoGen: Leveraging motion generation in reinforcement learning for mobile manipulation

   Fei Xia, Chengshu Li, Roberto Martín-Martín, Or Litany, Alexander Toshev, and Silvio Savarese

   In 2021 International Conference on Robotics and Automation (ICRA), Jan 2021

   Bib

   @inproceedings{xia2021relmogen,
     title = {ReLMoGen: Leveraging motion generation in reinforcement learning for mobile manipulation},
     author = {Xia, Fei and Li, Chengshu and Mart{\'i}n-Mart{\'i}n, Roberto and Litany, Or and Toshev, Alexander and Savarese, Silvio},
     booktitle = {2021 International Conference on Robotics and Automation (ICRA)},
     year = {2021},
   }

2. Robot navigation in constrained pedestrian environments using reinforcement learning

   Claudia Pérez-D’Arpino, Can Liu, Patrick Goebel, Roberto Martín-Martín, and Silvio Savarese

   In 2021 IEEE International Conference on Robotics and Automation (ICRA), Jan 2021

   Bib

   @inproceedings{perez2021robot,
     title = {Robot navigation in constrained pedestrian environments using reinforcement learning},
     author = {P{\'e}rez-D’Arpino, Claudia and Liu, Can and Goebel, Patrick and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {1140--1146},
     year = {2021},
     organization = {IEEE},
   }

3. iGibson 1.0, a Simulation Environment for Interactive Tasks in Large Realistic Scenes

   Bokui Shen, Fei Xia, Chengshu Li, Roberto Martín-Martín, Linxi Fan, Guanzhi Wang, Shyamal Buch, Claudia D’Arpino, Sanjana Srivastava, Lyne P Tchapmi, and  others

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Jan 2021

   Bib

   @inproceedings{shen2021igibson,
     title = {iGibson 1.0, a Simulation Environment for Interactive Tasks in Large Realistic Scenes},
     author = {Shen, Bokui and Xia, Fei and Li, Chengshu and Mart{\'i}n-Mart{\'i}n, Roberto and Fan, Linxi and Wang, Guanzhi and Buch, Shyamal and D'Arpino, Claudia and Srivastava, Sanjana and Tchapmi, Lyne P and others},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2021},
   }

4. Deep affordance foresight: Planning through what can be done in the future

   Danfei Xu, Ajay Mandlekar, Roberto Martín-Martín, Yuke Zhu, Silvio Savarese, and Li Fei-Fei

   In 2021 IEEE International Conference on Robotics and Automation (ICRA), Jan 2021

   Bib

   @inproceedings{xu2021deep,
     title = {Deep affordance foresight: Planning through what can be done in the future},
     author = {Xu, Danfei and Mandlekar, Ajay and Mart{\'i}n-Mart{\'i}n, Roberto and Zhu, Yuke and Savarese, Silvio and Fei-Fei, Li},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {6206--6213},
     year = {2021},
     organization = {IEEE},
   }

5. Semantic and geometric modeling with neural message passing in 3d scene graphs for hierarchical mechanical search

   Andrey Kurenkov, Roberto Martín-Martín, Jeff Ichnowski, Ken Goldberg, and Silvio Savarese

   In 2021 IEEE International Conference on Robotics and Automation (ICRA), Jan 2021

   Bib

   @inproceedings{kurenkov2021semantic,
     title = {Semantic and geometric modeling with neural message passing in 3d scene graphs for hierarchical mechanical search},
     author = {Kurenkov, Andrey and Mart{\'i}n-Mart{\'i}n, Roberto and Ichnowski, Jeff and Goldberg, Ken and Savarese, Silvio},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {11227--11233},
     year = {2021},
     organization = {IEEE},
   }

6. Learning multi-arm manipulation through collaborative teleoperation

   Albert Tung, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Yuke Zhu, Li Fei-Fei, and Silvio Savarese

   In 2021 IEEE International Conference on Robotics and Automation (ICRA), Jan 2021

   Bib

   @inproceedings{tung2021learning,
     title = {Learning multi-arm manipulation through collaborative teleoperation},
     author = {Tung, Albert and Wong, Josiah and Mandlekar, Ajay and Mart{\'i}n-Mart{\'i}n, Roberto and Zhu, Yuke and Fei-Fei, Li and Savarese, Silvio},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {9212--9219},
     year = {2021},
     organization = {IEEE},
   }

7. Greedy hierarchical variational autoencoders for large-scale video prediction

   Bohan Wu, Suraj Nair, Roberto Martín-Martín, Li Fei-Fei, and Chelsea Finn

   In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, Jan 2021

   Bib

   @inproceedings{wu2021greedy,
     author = {Wu, Bohan and Nair, Suraj and Mart{\'i}n-Mart{\'i}n, Roberto and Fei-Fei, Li and Finn, Chelsea},
     booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
     pages = {2318--2328},
     year = {2021},
   }

8. Laser: Learning a latent action space for efficient reinforcement learning

   Arthur Allshire, Roberto Martín-Martín, Charles Lin, Shawn Manuel, Silvio Savarese, and Animesh Garg

   In 2021 IEEE International Conference on Robotics and Automation (ICRA), Jan 2021

   Bib

   @inproceedings{allshire2021laser,
     title = {Laser: Learning a latent action space for efficient reinforcement learning},
     author = {Allshire, Arthur and Mart{\'i}n-Mart{\'i}n, Roberto and Lin, Charles and Manuel, Shawn and Savarese, Silvio and Garg, Animesh},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {6650--6656},
     year = {2021},
     organization = {IEEE},
   }

9. Jrdb: A dataset and benchmark of egocentric robot visual perception of humans in built environments

   Roberto Martín-Martín, Mihir Patel, Hamid Rezatofighi, Abhijeet Shenoi, JunYoung Gwak, Eric Frankel, Amir Sadeghian, and Silvio Savarese

   IEEE transactions on pattern analysis and machine intelligence, Jan 2021

   Bib

   @article{martin2021jrdb,
     title = {Jrdb: A dataset and benchmark of egocentric robot visual perception of humans in built environments},
     author = {Mart{\'i}n-Mart{\'i}n, Roberto and Patel, Mihir and Rezatofighi, Hamid and Shenoi, Abhijeet and Gwak, JunYoung and Frankel, Eric and Sadeghian, Amir and Savarese, Silvio},
     journal = {IEEE transactions on pattern analysis and machine intelligence},
     year = {2021},
     publisher = {IEEE},
   }

10. Differentiable factor graph optimization for learning smoothers

    Brent Yi, Michelle A Lee, Alina Kloss, Roberto Martín-Martín, and Jeannette Bohg

    In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Jan 2021

    Bib

    @inproceedings{yi2021differentiable,
      title = {Differentiable factor graph optimization for learning smoothers},
      author = {Yi, Brent and Lee, Michelle A and Kloss, Alina and Mart{\'i}n-Mart{\'i}n, Roberto and Bohg, Jeannette},
      booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      pages = {1339--1345},
      year = {2021},
      organization = {IEEE},
    }

11. BEHAVIOR: Benchmark for everyday household activities in virtual, interactive, and ecological environments

    Sanjana Srivastava, Chengshu Li, Michael Lingelbach, Roberto Martín-Martín, Fei Xia, Kent Elliott Vainio, Zheng Lian, Cem Gokmen, Shyamal Buch, Karen Liu, and  others

    In 5th Annual Conference on Robot Learning, Jan 2021

    Bib

    @inproceedings{srivastava2022behavior,
      title = {BEHAVIOR: Benchmark for everyday household activities in virtual, interactive, and ecological environments},
      author = {Srivastava, Sanjana and Li, Chengshu and Lingelbach, Michael and Mart{\'i}n-Mart{\'i}n, Roberto and Xia, Fei and Vainio, Kent Elliott and Lian, Zheng and Gokmen, Cem and Buch, Shyamal and Liu, Karen and others},
      booktitle = {5th Annual Conference on Robot Learning},
      pages = {477--490},
      year = {2021},
      organization = {PMLR},
    }

12. What matters in learning from offline human demonstrations for robot manipulation

    Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, and Roberto Martín-Martín

    Jan 2021

    Bib

    @article{mandlekar2021matters,
      title = {What matters in learning from offline human demonstrations for robot manipulation},
      author = {Mandlekar, Ajay and Xu, Danfei and Wong, Josiah and Nasiriany, Soroush and Wang, Chen and Kulkarni, Rohun and Fei-Fei, Li and Savarese, Silvio and Zhu, Yuke and Mart{\'i}n-Mart{\'i}n, Roberto},
      booktitle = {5th Annual Conference on Robot Learning},
      year = {2021},
    }

13. iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks

    Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, and  others

    In 5th Annual Conference on Robot Learning, Jan 2021

    Bib

    @inproceedings{li2021igibson,
      title = {iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks},
      author = {Li, Chengshu and Xia, Fei and Mart{\'i}n-Mart{\'i}n, Roberto and Lingelbach, Michael and Srivastava, Sanjana and Shen, Bokui and Vainio, Kent and Gokmen, Cem and Dharan, Gokul and Jain, Tanish and others},
      booktitle = {5th Annual Conference on Robot Learning},
      year = {2021},
      organization = {PMLR},
    }

14. Error-aware imitation learning from teleoperation data for mobile manipulation

    Josiah Wong, Albert Tung, Andrey Kurenkov, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, and Roberto Martín-Martín

    In 5th Annual Conference on Robot Learning, Jan 2021

    Bib

    @inproceedings{wong2022error,
      title = {Error-aware imitation learning from teleoperation data for mobile manipulation},
      author = {Wong, Josiah and Tung, Albert and Kurenkov, Andrey and Mandlekar, Ajay and Fei-Fei, Li and Savarese, Silvio and Mart{\'i}n-Mart{\'i}n, Roberto},
      booktitle = {5th Annual Conference on Robot Learning},
      pages = {1367--1378},
      year = {2021},
      organization = {PMLR},
    }

2020

1. 6-pack: Category-level 6d pose tracker with anchor-based keypoints

   Chen Wang, Roberto Martín-Martín, Danfei Xu, Jun Lv, Cewu Lu, Li Fei-Fei, Silvio Savarese, and Yuke Zhu

   In 2020 IEEE International Conference on Robotics and Automation (ICRA), Jan 2020

   Bib

   @inproceedings{wang20206,
     title = {6-pack: Category-level 6d pose tracker with anchor-based keypoints},
     author = {Wang, Chen and Mart{\'i}n-Mart{\'i}n, Roberto and Xu, Danfei and Lv, Jun and Lu, Cewu and Fei-Fei, Li and Savarese, Silvio and Zhu, Yuke},
     booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {10059--10066},
     year = {2020},
     organization = {IEEE},
   }

2. Hrl4in: Hierarchical reinforcement learning for interactive navigation with mobile manipulators

   Chengshu Li, Fei Xia, Roberto Martín-Martín, and Silvio Savarese

   In Conference on Robot Learning, Jan 2020

   Bib

   @inproceedings{li2020hrl4in,
     title = {Hrl4in: Hierarchical reinforcement learning for interactive navigation with mobile manipulators},
     author = {Li, Chengshu and Xia, Fei and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio},
     booktitle = {Conference on Robot Learning},
     pages = {603--616},
     year = {2020},
     organization = {PMLR},
   }

3. Leveraging pretrained image classifiers for language-based segmentation

   David Golub, Roberto Martín-Martín, Ahmed El-Kishky, and Silvio Savarese

   In Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision, Jan 2020

   Bib

   @inproceedings{golub2020leveraging,
     title = {Leveraging pretrained image classifiers for language-based segmentation},
     author = {Golub, David and Mart{\'i}n-Mart{\'i}n, Roberto and El-Kishky, Ahmed and Savarese, Silvio},
     booktitle = {Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision},
     pages = {2010--2019},
     year = {2020},
   }

4. Interactive gibson benchmark: A benchmark for interactive navigation in cluttered environments

   Fei Xia, William B Shen, Chengshu Li, Priya Kasimbeg, Micael Edmond Tchapmi, Alexander Toshev, Roberto Martín-Martín, and Silvio Savarese

   IEEE Robotics and Automation Letters, Jan 2020

   Bib

   @article{xia2020interactive,
     title = {Interactive gibson benchmark: A benchmark for interactive navigation in cluttered environments},
     author = {Xia, Fei and Shen, William B and Li, Chengshu and Kasimbeg, Priya and Tchapmi, Micael Edmond and Toshev, Alexander and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio},
     journal = {IEEE Robotics and Automation Letters},
     volume = {5},
     number = {2},
     pages = {713--720},
     year = {2020},
     publisher = {IEEE},
   }

5. JRMOT: A real-time 3d multi-object tracker and a new large-scale dataset

   Abhijeet Shenoi, Mihir Patel, JunYoung Gwak, Patrick Goebel, Amir Sadeghian, Hamid Rezatofighi, Roberto Martín-Martín, and Silvio Savarese

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Jan 2020

   Bib

   @inproceedings{shenoi2020jrmot,
     title = {JRMOT: A real-time 3d multi-object tracker and a new large-scale dataset},
     author = {Shenoi, Abhijeet and Patel, Mihir and Gwak, JunYoung and Goebel, Patrick and Sadeghian, Amir and Rezatofighi, Hamid and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {10335--10342},
     year = {2020},
   }

6. Learning to generalize across long-horizon tasks from human demonstrations

   Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Silvio Savarese, and Li Fei-Fei

   In Robotics: Science and Systems (RSS), Jan 2020

   Bib

   @inproceedings{mandlekar2020learning,
     title = {Learning to generalize across long-horizon tasks from human demonstrations},
     author = {Mandlekar, Ajay and Xu, Danfei and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio and Fei-Fei, Li},
     booktitle = {Robotics: Science and Systems (RSS)},
     year = {2020},
   }

7. Probabilistic Visual Navigation with Bidirectional Image Prediction

   Noriaki Hirose, Shun Taguchi, Fei Xia, Roberto Martín-Martín, Yasumasa Tahara, Masanori Ishigaki, and Silvio Savarese

   arXiv preprint arXiv:2003.09224, Jan 2020

   Bib

   @article{hirose2020probabilistic,
     title = {Probabilistic Visual Navigation with Bidirectional Image Prediction},
     author = {Hirose, Noriaki and Taguchi, Shun and Xia, Fei and Mart{\'i}n-Mart{\'i}n, Roberto and Tahara, Yasumasa and Ishigaki, Masanori and Savarese, Silvio},
     journal = {arXiv preprint arXiv:2003.09224},
     year = {2020},
   }

8. Visuomotor mechanical search: Learning to retrieve target objects in clutter

   Andrey Kurenkov, Joseph Taglic, Rohun Kulkarni, Marcus Dominguez-Kuhne, Animesh Garg, Roberto Martín-Martín, and Silvio Savarese

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Jan 2020

   Bib

   @inproceedings{kurenkov2020visuomotor,
     title = {Visuomotor mechanical search: Learning to retrieve target objects in clutter},
     author = {Kurenkov, Andrey and Taglic, Joseph and Kulkarni, Rohun and Dominguez-Kuhne, Marcus and Garg, Animesh and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2020},
   }

9. robosuite: A modular simulation framework and benchmark for robot learning

   Yuke Zhu, Josiah Wong, Ajay Mandlekar, and Roberto Martín-Martín

   arXiv preprint arXiv:2009.12293, Jan 2020

   Bib

   @article{zhu2020robosuite,
     title = {robosuite: A modular simulation framework and benchmark for robot learning},
     author = {Zhu, Yuke and Wong, Josiah and Mandlekar, Ajay and Mart{\'i}n-Mart{\'i}n, Roberto},
     journal = {arXiv preprint arXiv:2009.12293},
     year = {2020},
   }

10. Multimodal Sensor Fusion with Differentiable Filters

    Michelle A Lee, Brent Yi, Roberto Martín-Martín, Silvio Savarese, and Jeannette Bohg

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Jan 2020

    Bib

    @inproceedings{lee2020multimodal,
      title = {Multimodal Sensor Fusion with Differentiable Filters},
      author = {Lee, Michelle A and Yi, Brent and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio and Bohg, Jeannette},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2020},
    }

11. Human-in-the-loop imitation learning using remote teleoperation

    Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Yuke Zhu, Li Fei-Fei, and Silvio Savarese

    arXiv preprint arXiv:2012.06733, Jan 2020

    Bib

    @article{mandlekar2020human,
      title = {Human-in-the-loop imitation learning using remote teleoperation},
      author = {Mandlekar, Ajay and Xu, Danfei and Mart{\'i}n-Mart{\'i}n, Roberto and Zhu, Yuke and Fei-Fei, Li and Savarese, Silvio},
      journal = {arXiv preprint arXiv:2012.06733},
      year = {2020},
    }

2019

1. The RBO dataset of articulated objects and interactions

   Roberto Martín-Martín, Clemens Eppner, and Oliver Brock

   The International Journal of Robotics Research, Jan 2019

   Bib

   @article{martin2019rbo,
     title = {The RBO dataset of articulated objects and interactions},
     author = {Mart{\'i}n-Mart{\'i}n, Roberto and Eppner, Clemens and Brock, Oliver},
     journal = {The International Journal of Robotics Research},
     volume = {38},
     number = {9},
     pages = {1013--1019},
     year = {2019},
     publisher = {SAGE Publications Sage UK: London, England},
   }

2. Densefusion: 6d object pose estimation by iterative dense fusion

   Chen Wang, Danfei Xu, Yuke Zhu, Roberto Martín-Martín, Cewu Lu, Li Fei-Fei, and Silvio Savarese

   In IEEE/CVF Conference on Computer Vision and Pattern Recognition, Jan 2019

   Bib

   @inproceedings{wang2019densefusion,
     title = {Densefusion: 6d object pose estimation by iterative dense fusion},
     author = {Wang, Chen and Xu, Danfei and Zhu, Yuke and Mart{\'i}n-Mart{\'i}n, Roberto and Lu, Cewu and Fei-Fei, Li and Savarese, Silvio},
     booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
     pages = {3343--3352},
     year = {2019},
   }

3. Mechanical search: Multi-step retrieval of a target object occluded by clutter

   Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martín-Martín, Animesh Garg, Silvio Savarese, and Ken Goldberg

   In 2019 International Conference on Robotics and Automation (ICRA), Jan 2019

   Bib

   @inproceedings{danielczuk2019mechanical,
     title = {Mechanical search: Multi-step retrieval of a target object occluded by clutter},
     author = {Danielczuk, Michael and Kurenkov, Andrey and Balakrishna, Ashwin and Matl, Matthew and Wang, David and Mart{\'i}n-Mart{\'i}n, Roberto and Garg, Animesh and Savarese, Silvio and Goldberg, Ken},
     booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
     pages = {1614--1621},
     year = {2019},
     organization = {IEEE},
   }

4. Deep visual mpc-policy learning for navigation

   Noriaki Hirose, Fei Xia, Roberto Martín-Martín, Amir Sadeghian, and Silvio Savarese

   IEEE Robotics and Automation Letters, Jan 2019

   Bib

   @article{hirose2019deep,
     title = {Deep visual mpc-policy learning for navigation},
     author = {Hirose, Noriaki and Xia, Fei and Mart{\'i}n-Mart{\'i}n, Roberto and Sadeghian, Amir and Savarese, Silvio},
     journal = {IEEE Robotics and Automation Letters},
     volume = {4},
     number = {4},
     pages = {3184--3191},
     year = {2019},
     publisher = {IEEE},
   }

5. Deep local trajectory replanning and control for robot navigation

   Ashwini Pokle, Roberto Martín-Martín, Patrick Goebel, Vincent Chow, Hans M Ewald, Junwei Yang, Zhenkai Wang, Amir Sadeghian, Dorsa Sadigh, Silvio Savarese, and  others

   In 2019 international conference on robotics and automation (ICRA), Jan 2019

   Bib

   @inproceedings{pokle2019deep,
     title = {Deep local trajectory replanning and control for robot navigation},
     author = {Pokle, Ashwini and Mart{\'i}n-Mart{\'i}n, Roberto and Goebel, Patrick and Chow, Vincent and Ewald, Hans M and Yang, Junwei and Wang, Zhenkai and Sadeghian, Amir and Sadigh, Dorsa and Savarese, Silvio and others},
     booktitle = {2019 international conference on robotics and automation (ICRA)},
     pages = {5815--5822},
     year = {2019},
     organization = {IEEE},
   }

6. Coupled recursive estimation for online interactive perception of articulated objects

   Roberto Martín-Martín, and Oliver Brock

   The International Journal of Robotics Research, Jan 2019

   Bib

   @article{martin2022coupled,
     title = {Coupled recursive estimation for online interactive perception of articulated objects},
     author = {Mart{\'i}n-Mart{\'i}n, Roberto and Brock, Oliver},
     journal = {The International Journal of Robotics Research},
     volume = {41},
     number = {8},
     pages = {741--777},
     year = {2019},
     publisher = {SAGE Publications Sage UK: London, England},
   }

7. Variable impedance control in end-effector space: An action space for reinforcement learning in contact-rich tasks

   Roberto Martín-Martín, Michelle A Lee, Rachel Gardner, Silvio Savarese, Jeannette Bohg, and Animesh Garg

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Jan 2019

   Bib

   @inproceedings{martin2019variable,
     title = {Variable impedance control in end-effector space: An action space for reinforcement learning in contact-rich tasks},
     author = {Mart{\'i}n-Mart{\'i}n, Roberto and Lee, Michelle A and Gardner, Rachel and Savarese, Silvio and Bohg, Jeannette and Garg, Animesh},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {1010--1017},
     year = {2019},
   }

8. DANTE: deep affinity network for clustering conversational interactants

   Mason Swofford, John Charles Peruzzi, Marynel Vázquez, Roberto Martín-Martín, and Silvio Savarese

   In ACM on Human-Computer Interaction (CSCW), Jan 2019

   Bib

   @inproceedings{swofford2019dante,
     title = {DANTE: deep affinity network for clustering conversational interactants},
     author = {Swofford, Mason and Peruzzi, John Charles and V{\'a}zquez, Marynel and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio},
     booktitle = {ACM on Human-Computer Interaction (CSCW)},
     year = {2019},
   }

9. Ac-teach: A bayesian actor-critic method for policy learning with an ensemble of suboptimal teachers

   Andrey Kurenkov, Ajay Mandlekar, Roberto Martín-Martín, Silvio Savarese, and Animesh Garg

   In Conference on Robot Learning, Jan 2019

   Bib

   @inproceedings{kurenkov2019ac,
     title = {Ac-teach: A bayesian actor-critic method for policy learning with an ensemble of suboptimal teachers},
     author = {Kurenkov, Andrey and Mandlekar, Ajay and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio and Garg, Animesh},
     booktitle = {Conference on Robot Learning},
     pages = {717--734},
     year = {2019},
   }

10. Social-bigat: Multimodal trajectory forecasting using bicycle-gan and graph attention networks

    Vineet Kosaraju, Amir Sadeghian, Roberto Martín-Martín, Ian Reid, S Hamid Rezatofighi, and Silvio Savarese

    In Advances in Neural Information Processing Systems 2019 (NeurIPS), Jan 2019

    Bib

    @inproceedings{kosaraju2019social,
      title = {Social-bigat: Multimodal trajectory forecasting using bicycle-gan and graph attention networks},
      author = {Kosaraju, Vineet and Sadeghian, Amir and Mart{\'i}n-Mart{\'i}n, Roberto and Reid, Ian and Rezatofighi, S Hamid and Savarese, Silvio},
      booktitle = {Advances in Neural Information Processing Systems 2019 (NeurIPS)},
      year = {2019},
    }

11. Regression planning networks

    Danfei Xu, Roberto Martín-Martín, De-An Huang, Yuke Zhu, Silvio Savarese, and Li Fei-Fei

    In Advances in Neural Information Processing Systems 2019 (NeurIPS), Jan 2019

    Bib

    @inproceedings{xu2019regression,
      title = {Regression planning networks},
      author = {Xu, Danfei and Mart{\'i}n-Mart{\'i}n, Roberto and Huang, De-An and Zhu, Yuke and Savarese, Silvio and Fei-Fei, Li},
      booktitle = {Advances in Neural Information Processing Systems 2019 (NeurIPS)},
      year = {2019},
    }

12. Vunet: Dynamic scene view synthesis for traversability estimation using an rgb camera

    Noriaki Hirose, Amir Sadeghian, Fei Xia, Roberto Martín-Martín, and Silvio Savarese

    IEEE Robotics and Automation Letters, Jan 2019

    Bib

    @article{hirose2019vunet,
      title = {Vunet: Dynamic scene view synthesis for traversability estimation using an rgb camera},
      author = {Hirose, Noriaki and Sadeghian, Amir and Xia, Fei and Mart{\'i}n-Mart{\'i}n, Roberto and Savarese, Silvio},
      journal = {IEEE Robotics and Automation Letters},
      volume = {4},
      number = {2},
      pages = {2062--2069},
      year = {2019},
      publisher = {IEEE},
    }

13. Coupled Recursive Estimation for Online Interactive Perception of Articulated Objects–Online IP Data

    Roberto Martín-Martín

    Jan 2019

    Bib

    @article{martin2019coupled,
      title = {Coupled Recursive Estimation for Online Interactive Perception of Articulated Objects--Online IP Data},
      author = {Mart{\'i}n-Mart{\'i}n, Roberto},
      year = {2019},
    }

2018

1. Physics-based selection of informative actions for interactive perception

   Clemens Eppner, Roberto Martín-Martín, and Oliver Brock

   In 2018 IEEE International Conference on Robotics and Automation (ICRA), Jan 2018

   Bib

   @inproceedings{eppner2018physics,
     title = {Physics-based selection of informative actions for interactive perception},
     author = {Eppner, Clemens and Mart{\'i}n-Mart{\'i}n, Roberto and Brock, Oliver},
     booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {7427--7432},
     year = {2018},
     organization = {IEEE},
   }

2. Four aspects of building robotic systems: lessons from the Amazon Picking Challenge 2015

   Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martín-Martín, Arne Sieverling, Vincent Wall, and Oliver Brock

   Autonomous Robots, Jan 2018

   Bib

   @article{eppner2018four,
     title = {Four aspects of building robotic systems: lessons from the Amazon Picking Challenge 2015},
     author = {Eppner, Clemens and H{\"o}fer, Sebastian and Jonschkowski, Rico and Mart{\'i}n-Mart{\'i}n, Roberto and Sieverling, Arne and Wall, Vincent and Brock, Oliver},
     journal = {Autonomous Robots},
     volume = {42},
     number = {7},
     pages = {1459--1475},
     year = {2018},
     publisher = {Springer US},
   }

3. Leveraging problem structure in interactive perception for robot manipulation of constrained mechanisms

   Roberto Martín-Martín

   Jan 2018

   Bib

   @book{martin2018leveraging,
     title = {Leveraging problem structure in interactive perception for robot manipulation of constrained mechanisms},
     author = {Mart{\'i}n-Mart{\'i}n, Roberto},
     year = {2018},
     publisher = {Technische Universitaet Berlin (Germany)},
   }

2017

1. Building Kinematic and Dynamic Models of Articulated Objects with Multi-Modal Interactive Perception

   Roberto Martín-Martín, and Oliver Brock

   In AAAI Spring Symposium Series - Interactive Multi-Sensory Object Perception for Embodied Agents, Jan 2017

   Bib

   @inproceedings{martin2017building,
     title = {Building Kinematic and Dynamic Models of Articulated Objects with Multi-Modal Interactive Perception},
     author = {Mart{\'i}n-Mart{\'i}n, Roberto and Brock, Oliver},
     booktitle = {AAAI Spring Symposium Series - Interactive Multi-Sensory Object Perception for Embodied Agents},
     year = {2017},
     organization = {AAAI Publications},
   }

2. Cross-modal interpretation of multi-modal sensor streams in interactive perception based on coupled recursion

   Roberto Martín-Martín, and Oliver Brock

   In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Jan 2017

   Bib

   @inproceedings{martin2017cross,
     title = {Cross-modal interpretation of multi-modal sensor streams in interactive perception based on coupled recursion},
     author = {Mart{\'i}n-Mart{\'i}n, Roberto and Brock, Oliver},
     booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {3289--3295},
     year = {2017},
     organization = {IEEE},
   }

3. Opening a lockbox through physical exploration

   Manuel Baum, Matthew Bernstein, Roberto Martín-Martín, Sebastian Höfer, Johannes Kulick, Marc Toussaint, Alex Kacelnik, and Oliver Brock

   In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), Jan 2017

   Bib

   @inproceedings{baum2017opening,
     title = {Opening a lockbox through physical exploration},
     author = {Baum, Manuel and Bernstein, Matthew and Mart{\'i}n-Mart{\'i}n, Roberto and H{\"o}fer, Sebastian and Kulick, Johannes and Toussaint, Marc and Kacelnik, Alex and Brock, Oliver},
     booktitle = {2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)},
     pages = {461--467},
     year = {2017},
     organization = {IEEE},
   }

2016

1. An Integrated Approach to Visual Perception of Articulated Objects

   Roberto Martín-Martín, Sebastian Höfer, and Oliver Brock

   In International Conference on Robotics and Automation (ICRA), Jan 2016

   Bib

   @inproceedings{martin2016integrated,
     title = {An Integrated Approach to Visual Perception of Articulated Objects},
     author = {Mart{\'i}n-Mart{\'i}n, Roberto and H{\"o}fer, Sebastian and Brock, Oliver},
     booktitle = {International Conference on Robotics and Automation (ICRA)},
     year = {2016},
   }

2. Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems

   Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martín-Martín, Arne Sieverling, Vincent Wall, and Oliver Brock

   In Robotics, Science and Systems (RSS), Jan 2016

   Bib

   @inproceedings{eppner2016lessons,
     title = {Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems},
     author = {Eppner, Clemens and H{\"o}fer, Sebastian and Jonschkowski, Rico and Mart{\'i}n-Mart{\'i}n, Roberto and Sieverling, Arne and Wall, Vincent and Brock, Oliver},
     booktitle = {Robotics, Science and Systems (RSS)},
     year = {2016},
   }

3. Probabilistic Multi-Class Segmentation for the Amazon Picking Challenge

   Rico Jonschkowski, Clemens Eppner, Sebastian Höfer, Roberto Martín-Martín, and Oliver Brock

   In International Conference on Intelligent Robots and Systems (IROS), Jan 2016

   Bib

   @inproceedings{jonschkowski2016probabilistic,
     title = {Probabilistic Multi-Class Segmentation for the Amazon Picking Challenge},
     author = {Jonschkowski, Rico and Eppner, Clemens and H{\"o}fer, Sebastian and Mart{\'i}n-Mart{\'i}n, Roberto and Brock, Oliver},
     booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
     year = {2016},
   }

4. Estimating the relation of perception and action during interaction

   Roberto Martín-Martín, Arne Sieverling, and Oliver Brock

   In International Workshop on Robotics in the 21st century: Challenges and Promises, Jan 2016

   Bib

   @inproceedings{martin2016estimating,
     title = {Estimating the relation of perception and action during interaction},
     author = {Mart{\'i}n-Mart{\'i}n, Roberto and Sieverling, Arne and Brock, Oliver},
     booktitle = {International Workshop on Robotics in the 21st century: Challenges and Promises},
     year = {2016},
   }

5. Probabilistic Multi-Class Segmentation for the Amazon Picking Challenge

   Clemens Eppner, Rico Jonschkowski, Sebastian Höfer, Roberto Martín-Martín, and Oliver Brock

   Jan 2016

   Bib

   @article{eppner2016probabilistic,
     title = {Probabilistic Multi-Class Segmentation for the Amazon Picking Challenge},
     author = {Eppner, Clemens and Jonschkowski, Rico and H{\"o}fer, Sebastian and Mart{\'i}n-Mart{\'i}n, Roberto and Brock, Oliver},
     year = {2016},
   }

2015

2014

1. Online interactive perception of articulated objects with multi-level recursive estimation based on task-specific priors

   Roberto Martín-Martín, and Oliver Brock

   In IEEE/RSJ International Conference on Intelligent Robots and Systems, Jan 2014

   Bib

   @inproceedings{martin2014online,
     title = {Online interactive perception of articulated objects with multi-level recursive estimation based on task-specific priors},
     author = {Mart{\'i}n-Mart{\'i}n, Roberto and Brock, Oliver},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
     pages = {2494--2501},
     year = {2014},
     organization = {IEEE},
   }

2. Deterioration of depth measurements due to interference of multiple RGB-D sensors

   Roberto Martín-Martín, Malte Lorbach, and Oliver Brock

   In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Jan 2014

   Bib

   @inproceedings{martin2014deterioration,
     title = {Deterioration of depth measurements due to interference of multiple RGB-D sensors},
     author = {Mart{\'i}n-Mart{\'i}n, Roberto and Lorbach, Malte and Brock, Oliver},
     booktitle = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
     pages = {4205--4212},
     year = {2014},
     organization = {IEEE},
   }