Selected Journal Papers

Clark, Geoff, Ben Amor, H. (2022). Learning Ergonomic Control in Human-Robot Symbiotic Walking, Transactions on Robotics (TRO).

Li, D., Yumbla, E. Q., Olivas, A., Sugar, T., Ben Amor, H., Lee, H. & Aukes, D. M. (2022). Origami-Inspired Wearable Robot for Trunk Support. IEEE/ASME Transactions on Mechatronics.

Vogt, D.; Stepputtis, S.; Jung, B.; Ben Amor, H. (2018). One-shot learning of human–robot handovers with triadic interaction meshes, Autonomous Robots (AURO), Springer.

Ganesan, R.; Rathore, Y.; Ross, H.; Ben Amor, H. (2018). Mediating Human-Robot Collaboration through Mixed Reality Cues, IEEE Robotics and Automation Magazine (RAM), IEEE.

Berger, E.; Müller., D.; Vogt, D.; Jung, B.; Ben Amor, H. (2015). Estimation of Perturbations in Robot Behaviors using
Dynamic Mode Decomposition, Advanced Robotics, Robotics Society of Japan.

Wang, Z.; Muelling, K.; Deisenroth, M. P.; Ben Amor, H.; Vogt, D.; Schoelkopf, B.; Peters, J. (2013). Probabilistic Movement Modeling for Intention Inference in Human-Robot Interaction, International Journal of Robotics Research (IJRR), 32, 7, pp.841-858.

Ikemoto, S.; Ben Amor, H. ;Minato, T. ; Ishiguro, H. ; Jung, B. (2012). Mutual Learning and Adaptation in Physical Human-Robot Interaction, IEEE Robotics and Automation Magazine (RAM), IEEE.

Conference Papers

 ​Liu, X.; Ikemoto, S., Yoshimitsu, Y., & Ben Amor, H. (2023). Learning Soft Robot Dynamics using Differentiable Kalman Filters and Spatio-Temporal Embeddings​. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Detroit, (IROS 2023).

Liu, X.; Zhou, Y., & Ben Amor, H. (2023). Enhancing State Estimation in Robots: A Data-Driven Approach with Differentiable Ensemble Kalman Filters. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Detroit, (IROS 2023).

Sonawani, S.; Zhou, Y.; Weigend, F., &  Ben Amor, H. (2023). Projecting Robot Intentions Through Visual Cues: Static vs. Dynamic Signaling. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Detroit, (IROS 2023).

Weigend, F. C., Sonawani, S., Drolet, M., &  Ben Amor, H. (2023). Anytime, Anywhere: Human Arm Pose from Smartwatch Data for Ubiquitous Robot Control and Teleoperation.​ Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Detroit, (IROS 2023).

​Drolet, M., Campbell, J., & Ben Amor, H. (2023). Learning and Blending Robot Hugging Behaviors in Time and Space. IEEE International Conference on Robotics and Automation, (ICRA 2023).

Stepputtis, S., Bandari, M., Schaal, S., & Ben Amor, H. (2022). A system for imitation learning of contact-rich bimanual manipulation policies. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, (IROS 2022).

Majd, K., Clark, G., Khandait, T., Zhou, S., Sankaranarayanan, S., Fainekos, G., & Ben Amor, H. (2023). Safe Robot Learning in Assistive Devices through Neural Network Repair. ​Proceedings of the International Conference on Robot Learning (CoRL 2022).

Zhou, Y., Sonawani, S., Phielipp, M., Stepputtis, S., & Ben Amor, H. (2022). Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation. Proceedings of the International Conference on Robot Learning (CoRL 2022).

Stepputtis, S.; Campbell, J.; Baral, C.; Lee, S.; Philiep, M.; Ben Amor, H. (2020): Language-Conditioned Imitation Learning for Robot Manipulation Tasks, Neural Information Processing Systems (NeurIPS). Spotlight Presentation!

Kerner, H.; Wllington, D.; Wagstaff, K.; Bell, J.; Kwan, C.; Ben Amor, H. (2019): Novelty Detection for Multispectral Images with Application to Planetary Exploration, Proceedings of the AAAI Conference on Artificial Intelligence (AAAI).

Zhou, S.; Phielipp, M.; Sefair, J.; Walker, S.; Ben Amor, H. (2019): Clone Swarms: Learning to Predict and Control Multi-Robot Systems by Imitation, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, (IROS 2019).

Luck, K.; Vecerik, M.; Stepputtis, S.; Ben Amor, H.; Scholz, J. (2019): Improved Exploration through Latent Trajectory Optimization in Deep Deterministic Policy Gradient, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, (IROS 2019).

Campbell, J.; Hitzmann, A.; Stepputtis, S.; Ikemoto, S.; Hosoda, K.; Ben Amor, H. (2019): Learning Interactive Behaviors for Musculoskeletal Robots using Bayesian Interaction Primitives, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, (IROS 2019).

Campbell, J.; Stepputtis, S.; Ben Amor, H. (2019): Probabilistic Multimodal Modeling for Human-Robot Interaction Tasks, Proceedings of Robotics: Science and Systems, (RSS).

Dokhanchi, A.; Ben Amor, H.; Deshmukh, J.V.; Fainekos, G. (2018): Evaluating Perception Systems for Autonomous Vehicles using Quality Temporal Logic, The 18th International Conference on Runtime Verification (RV).

Stepputtis, S.; Yang, Y.; Ben Amor, H. (2018): Extrinsic Dexterity through Active Slip Control using Deep Predictive Models, IEEE International Conference on Robotics and Automation, (ICRA).

Strickland, M.; Fainekos, G.; Ben Amor, H. (2018): Deep Predictive Models for Collision Risk Assessment in Autonomous Driving, IEEE International Conference on Robotics and Automation, (ICRA).

Sur, I; Ben Amor, H. (2017): Robots that Anticipate Pain: Anticipating Physical Perturbations from Visual Cues through Deep Predictive Models, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, (IROS 2017).

Luck, K; Ben Amor, H. (2017): Extracting Bimanual Synergies with Reinforcement Learning, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, (IROS 2017).

Campbell, J; Ben Amor, H. (2017): Bayesian Interaction Primitives: A SLAM Approach to Human-Robot Interaction, Proceedings of the International Conference on Robot Learning, Mountain View, California, (CoRL 2017).

Richardson, T; Ben Amor, H. (2017): "Should Robots Feel Pain? Towards a Computational Theory of Pain in Autonomous Systems", International Symposium on Robotics Research (ISRR).

Jansen, M.; Luck, K; Campbell, J.; Ben Amor, H.; Aukes, D. (2017): "Bio-inspired Robot Design Considering Load-bearing and Kinematic Ontogeny of Chelonioidea Sea Turtles", International Conference on Biomimetic and Biohybrid Systems, Living Machines.

Luck, K.; Campbell, J.; Jansen, M.; Aukes, D.; Ben Amor, H. (2017): "From the Lab to the Desert: Fast Prototyping and Learning of Robot Locomotion", Robotics: Science and Systems, (R:SS).

Barron, T.; Ben Amor, H. (2017): "Sample-Efficient Reinforcement Learning for Robot to Human Handover Tasks", The Multi-Disciplinary Conference on Reinforcement Learning and Decision Making, (RLDM).

Vogt, D.; Stepputtis, S.; Jung, B.; Ben Amor, H. (2017): "A System for Learning Continuous Human-Robot Interactions from Human-Human Demonstrations", IEEE International Conference on Robotics and Automation, (ICRA).

Berger, E.; Vogt, D.; Grehl, S.l; Jung, B.; Ben Amor, H. (2016): "Estimating Perturbations from Experience using Neural Networks and Information Transfer", IEEE International Conference on Robotics and Automation, (IROS).

Andersen, R.; Madsen, O.;  Moeslund, B; Ben Amor, H. (2016), Projecting Robot Intentions into Human Environments, 25th IEEE International Symposium on Robot and Human Interactive Communication (ROMAN)

Berger, E.; Grehl, S.l Vogt, D.; Jung, B.; Ben Amor, H. (2016): "Experience-based Torque Estimation for an Industrial Robot", IEEE International Conference on Robotics and Automation, (ICRA).

Campbell, J; Ben Amor, H.; Ang, M.; Fainekos, G. (2016): "Traffic Light Status Detection Using Movement Patterns of Vehicles", Proceedings of 19th IEEE Intelligent Transportation Systems Conference (ITSC).

Schroecker, Y; Ben Amor, H., Thomaz, A. (2016), Directing Policy Search with Interactively Taught Via-Points, Proceedings of the 2016 International Conference on Autonomous Agents and Multiagent Systems (AAMAS).

Luck, K.; Pajarinen, J.; Erik Berger, E.; Kyrki, V. ; Ben Amor, H. (2016), Sparse Latent Space Policy Search, Proceedings of the 2016 AAAI Conference on Artificial Intelligence (AAAI).

Brahmbhatt, S.; Ben Amor, H., Christensen, H.; (2015), Occlusion Aware Object Localization, Segmentation and Pose Estimation, Proceedings of the 2015 British Machine Vision Conference (BMVC).

Andersen, T.; Ben Amor, H.; Andersen, N.; Ravn, O. (2015), Measuring and Modelling Delays in Robot Manipulators for Temporally Precise Control using Machine Learning, Proceeding of 2015 International Conference on Machine Learning and Applications (ICMLA).

Quispe, A. H.; Ben Amor, H.; Henrik Christensen, H. (2015), A Taxonomy of Benchmark Tasks for Bimanual Manipulators, Proceedings of 2015 International Symposium on Robotics Research (ISRR).

Quispe, A. H.; Milville, B.; Gutierrez, M.; Erdogan, C.; Stilman, M; Christensen, H.; Ben Amor, H. (2015) Exploiting Symmetries and Extrusions for Grasping Household Objects, Proceedings of 2015 IEEE International Conference on Robotics and Automation (ICRA).

Ewerton, M.; Neumann, G.; Lioutikov, R.; Ben Amor, H.; Peters, J.; Maeda, G. (2015). Learning Multiple Collaborative Tasks with a Mixture of Interaction Primitives, Proceedings of 2015 IEEE International Conference on Robotics and Automation (ICRA). Finalist for Best Paper Award, Best Student Paper Award, and Best Service Paper Award.

Ben Amor, H.; Neumann, G.; Kamthe, S.; Kroemer, O.; Peters, J. (2014). Interaction Primitives for Human-Robot Cooperation Tasks , Proceedings of 2014 IEEE International Conference on Robotics and Automation (ICRA).

Berger, E.; Müller., D.; Vogt, D.; Jung, B.; Ben Amor, H. (2014). Transfer Entropy for Feature Extraction in Physical Human-Robot Interaction: Detecting Perturbations from Low-Cost Sensors,  Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).

Maeda, G.J.; Ewerton, M.; Lioutikov, R.; Ben Amor, H.; Peters, J.; Neumann, G. (2014). Learning Interaction for Collaborative Tasks with Probabilistic Movement Primitives, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS)

Dantam, N.; Ben Amor, H; Christensen, H.; Stilman, M. (2014). Online Multi-Camera Registration for Bimanual Workspace Trajectories, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS). Finalist for Best Paper Award.

Luck, K.; Neumann, G.; Berger, E.; Peters, J.; Ben Amor, H. (2014). Latent Space Policy Search for Robotics, Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 

Dantam, N.; Ben Amor, H; Christensen, H.; Stilman, M. (2014). Online Camera Registration for Robot Manipulation, Proceedings of the 2014 International Symposium on Experimental Robotics (ISER).

Berger, E.; Sastuba, M.; Vogt, D.; Jung, B.; Ben Amor, H. (2014). Dynamic Mode Decomposition for Perturbation Estimation in Human-Robot Interaction, Proceedings of the 2014 IEEE International Symposium on Robot and Human Interactive Communication. (ROMAN). Finalist for Kazuo-Tanie Paper Award.

Vogt, D.; Grehl, S.; Berger, E.; Ben Amor, H; Jung, B. (2014). A Data-Driven Method for Real-Time Character Animation in Human-Agent Interaction, Proceedings of the Fourteenth International Conference on Intelligent Virtual Agents (IVA 2014). 17% acceptance rate!

Ben Amor, H.; Vogt, D.; Ewerton, M.; Berger, E.; Jung, B.; Peters, J. (2013). Learning Responsive Robot Behavior by Imitation, Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Berger, E.; Vogt, D.; Haji-Ghassemi, N.; Jung, B.; Ben Amor, H. (2013). Inferring Guidance Information in Cooperative Human-Robot Tasks, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).

Wang, Z.;Deisenroth, M; Ben Amor, H.; Vogt, D.; Schoelkopf, B.; Peters, J. (2012). Probabilistic Modeling of Human Movements for Intention Inference, Proceedings of Robotics: Science and Systems (R:SS). VIDEO!

van Hoof, H.; Kroemer, O.;Ben Amor, H.; Peters, J. (2012). Maximally Informative Interaction Learning for Scene Exploration, Proceedings of the International Conference on Robot Systems (IROS).

Ben Amor, H.; Kroemer, O.; Hillenbrand, U.; Neumann, G.; Peters, J. (2012). Generalization of Human Grasping for Multi-Fingered Robot Hands, Proceedings of the International Conference on Robot Systems (IROS). VIDEO!

Kroemer, O.; Ben Amor, H.; Ewerton, M.; Peters, J. (2012). Point Cloud Completion Using Symmetries and Extrusions, Proceedings of the International Conference on Humanoid Robots (HUMANOIDS).

Ben Amor, H. ; Berger, E. ; Vogt, D. ; Jung, B. (2009). Kinesthetic Bootstrapping: Teaching Motor Skills to Humanoid Robots through Physical Interaction, KI 2009: 32nd Annual Conference on Artificial Intelligence, Springer Verlag. VIDEO!

Ikemoto, S.; Ben Amor, H. ; Minato, T.; Ishiguro, H.; Jung, B. (2009). Physical Interaction Learning: Behavior Adaptation in Cooperative Human-Robot Tasks Involving Physical Contact, RO-MAN 2009 - 18th IEEE International Symposium on Robot and Human Interactive Communication. CoTeSys Best Paper Award.

Weber, M.; Ben Amor, H.; Alexander, T. (2008). Identifying Motion Capture Tracking Markers with Self-Organizing Maps, IEEE Virtual Reality.

Heumer, G.; Ben Amor, H.; Weber, M.; Jung, B. (2007). Grasp Recognition with Uncalibrated Data Gloves - A Comparison of Classification Methods, IEEE Virtual Reality, IEEE.

Ben Amor, H.; Ikemoto, S.; Minato, T. ; Jung, B.; Ishiguro, H. (2007). A Neural Framework for Robot Motor Learning based on Memory Consolidation, ICANNGA-07 International Conference on Adaptive and Natural Computing Algorithms.

Weber, M.; Heumer, G.; Ben Amor, H.; Jung, B. (2006). An Animation System for Imitation of Object Grasping in Virtual Reality, Advances in Artificial Reality and Tele-Existence, Springer Verlag.

Jung, B.; Ben Amor, H.; Heumer, G.; Weber, M. (2006). From Motion Capture to Action Capture: A Review of Imitation Learning Techniques and their Application to VR-based Character Animation, Thirteenth ACM Symposium on Virtual Reality Software and Technology, ACM Press. VIDEO!

Ben Amor, H.; Ikemoto, S.; Minato, T.; Ishiguro, H. (2006). Learning Android Control using Growing Neural Networks, Proceedings of JSME Robotics and Mechatronics Conference ROBOMEC.

Ben Amor, H.; Rettinger, A. (2005). Intelligent Exploration for Genetic Algorithms. Using Self-Organizing Maps in Evolutionary Computation, Proceedings of the 2005 Conference on Genetic and Evolutionary Computation, pp.1531-1538, ACM Press.