Publications | RobIn Robot Interactive Intelligence Lab

2024

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},
}

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},
}

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)},
}

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

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

arXiv preprint, 2023

arXiv Bib Website

@article{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},
  journal = {arXiv preprint},
  publisher = {arXiv},
  year = {2023},
}

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},
}

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},
}

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},
}

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

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},
}

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},
}

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},
}

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

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},
}

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},
}

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},
}

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},
}

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,
}

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

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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},
}

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

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},
}

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},
}

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

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},
}

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},
}

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

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},
}

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},
}

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},
}

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},
}

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

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},
}

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},
}