Publications

The following list of publications describes parts of the CRAM system or experimental systems that have been realized using CRAM. If you would like to contribute a publication, please contact the CRAM maintainers.

Refereed Articles
Self-specialization of General Robot Plans Based on Experience (Sebastian Koralewski, Gayane Kazhoyan, Michael Beetz), In Robotics and Automation Letters, IEEE, 2019.
The Exchange of Knowledge using Cloud Robotics (Asil Kaan Bozcuoglu, Gayane Kazhoyan, Yuki Furuta, Simon Stelter, Michael Beetz, Kei Okada, Masayuki Inaba), In Robotics and Automation Letters, IEEE, volume 3, 2018. [doi]
CRAMm -- Memories for Robots Performing Everyday Manipulation Activities (Jan Winkler, Moritz Tenorth, Asil Kaan Bozcuoglu, Michael Beetz), In Second Annual Conference on Advances in Cognitive Systems, 2013.
Knowledge Enabled High-Level Task Abstraction and Execution (Jan Winkler, Georg Bartels, Lorenz Mösenlechner, Michael Beetz), In First Annual Conference on Advances in Cognitive Systems, volume 2, 2012.
Learning and Reasoning with Action-Related Places for Robust Mobile Manipulation (Freek Stulp, Andreas Fedrizzi, Lorenz Mösenlechner, Michael Beetz), In Journal of Artificial Intelligence Research (JAIR), volume 43, 2012.
Cognition-Enabled Autonomous Robot Control for the Realization of Home Chore Task Intelligence (Michael Beetz, Dominik Jain, Lorenz Mösenlechner, Moritz Tenorth, Lars Kunze, Nico Blodow, Dejan Pangercic), In Proceedings of the IEEE, Special Issue on Quality of Life Technology, volume 100, 2012.
Towards Performing Everyday Manipulation Activities (Michael Beetz, Dominik Jain, Lorenz Mösenlechner, Moritz Tenorth), In Robotics and Autonomous Systems, Elsevier, volume 58, 2010. [pdf]
Refereed Conference Papers
The Robot Household Marathon Experiment (Gayane Kazhoyan, Simon Stelter, Franklin Kenghagho Kenfack, Sebastian Koralewski, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2021.
Learning Motion Parameterizations of Mobile Pick and Place Actions from Observing Humans in Virtual Environments (Gayane Kazhoyan, Alina Hawkin, Sebastian Koralewski, Andrei Haidu, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
Towards Plan Transformations for Real-World Mobile Fetch and Place (Gayane Kazhoyan, Arthur Niedzwiecki, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2020.
Executing Underspecified Actions in Real World Based on Online Projection (Gayane Kazhoyan, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. [doi]
Accomplishing Variations of Mobile Manipulation Actions through Generalized Robot Plans (Gayane Kazhoyan, Michael Beetz), In Proceedings of the Seventh Annual Conference on Advances in Cognitive Systems, 2019.
Cognition-enabled Framework for Mixed Human-Robot Rescue Team (Fereshta Yazdani, Gayane Kazhoyan, Asil Kaan Bozcuoglu, Andrei Haidu, Ferenc Balint-Benczedi, Daniel Beßler, Mihai Pomarlan, Michael Beetz), In International Conference on Intelligent Robots and Systems (IROS), 2018.
Programming Robotic Agents with Action Descriptions (Gayane Kazhoyan, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. [doi]
Fast Temporal Projection Using Accurate Physics-Based Geometric Reasoning (Lorenz Mösenlechner, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2013.
Constraint-based Movement Representation grounded in Geometric Features (Georg Bartels, Ingo Kresse, Michael Beetz), In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2013.
Robotic Roommates Making Pancakes (Michael Beetz, Ulrich Klank, Ingo Kresse, Alexis Maldonado, Lorenz Mösenlechner, Dejan Pangercic, Thomas Rühr, Moritz Tenorth), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [pdf]
Parameterizing Actions to have the Appropriate Effects (Lorenz Mösenlechner, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
Becoming Action-aware through Reasoning about Logged Plan Execution Traces (Lorenz Mösenlechner, Nikolaus Demmel, Michael Beetz), In IEEE/RSJ International Conference on Intelligent RObots and Systems., 2010.
CRAM -- A Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments (Michael Beetz, Lorenz Mösenlechner, Moritz Tenorth), In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010. [pdf]