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

2010
[7]	Towards Performing Everyday Manipulation Activities (Michael Beetz, Dominik Jain, Lorenz Mösenlechner and Moritz Tenorth), In Robotics and Autonomous Systems, Elsevier, volume 58, 2010. [bibtex]
2012
[6]	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 and Dejan Pangercic), In Proceedings of the IEEE, Special Issue on Quality of Life Technology, volume 100, 2012. [bibtex]
[5]	Learning and Reasoning with Action-Related Places for Robust Mobile Manipulation (Freek Stulp, Andreas Fedrizzi, Lorenz Mösenlechner and Michael Beetz), In Journal of Artificial Intelligence Research (JAIR), volume 43, 2012. [bibtex]
[4]	Knowledge Enabled High-Level Task Abstraction and Execution (Jan Winkler, Georg Bartels, Lorenz Mösenlechner and Michael Beetz), In First Annual Conference on Advances in Cognitive Systems, volume 2, 2012. [bibtex]
2013
[3]	CRAMm – Memories for Robots Performing Everyday Manipulation Activities (Jan Winkler, Moritz Tenorth, Asil Kaan Bozcuoglu and Michael Beetz), In Second Annual Conference on Advances in Cognitive Systems, 2013. [bibtex]
2018
[2]	The Exchange of Knowledge using Cloud Robotics (Bozcuoglu, Asil Kaan, Kazhoyan, Gayane, Furuta, Yuki, Stelter, Simon, Beetz, Michael, Okada, Kei and Inaba, Masayuki), In Robotics and Automation Letters, IEEE, volume 3, 2018. [bibtex] [doi]
2019
[1]	Self-specialization of General Robot Plans Based on Experience (Koralewski, Sebastian, Kazhoyan, Gayane and Beetz, Michael), In Robotics and Automation Letters, IEEE, 2019. [bibtex]

Refereed Conference Papers

2010
[14]	CRAM – A Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments (Michael Beetz, Lorenz Mösenlechner and Moritz Tenorth), In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010. [bibtex]
[13]	Becoming Action-aware through Reasoning about Logged Plan Execution Traces (Lorenz Mösenlechner, Nikolaus Demmel and Michael Beetz), In IEEE/RSJ International Conference on Intelligent RObots and Systems., 2010. [bibtex]
2011
[12]	Parameterizing Actions to have the Appropriate Effects (Lorenz Mösenlechner and Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [bibtex]
[11]	Robotic Roommates Making Pancakes (Michael Beetz, Ulrich Klank, Ingo Kresse, Alexis Maldonado, Lorenz Mösenlechner, Dejan Pangercic, Thomas Rühr and Moritz Tenorth), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bibtex]
2013
[10]	Fast Temporal Projection Using Accurate Physics-Based Geometric Reasoning (Lorenz Mösenlechner and Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2013. [bibtex]
[9]	Constraint-based Movement Representation grounded in Geometric Features (Georg Bartels, Ingo Kresse and Michael Beetz), In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2013. [bibtex]
2017
[8]	Programming Robotic Agents with Action Descriptions (Gayane Kazhoyan and Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. [bibtex] [doi]
2018
[7]	Cognition-enabled Framework for Mixed Human-Robot Rescue Team (Yazdani, Fereshta, Kazhoyan, Gayane, Bozcuoglu, Asil Kaan, Haidu, Andrei, Balint-Benczedi, Ferenc, Beßler, Daniel, Pomarlan, Mihai and Beetz, Michael), In International Conference on Intelligent Robots and Systems (IROS), 2018. [bibtex]
2019
[6]	Accomplishing Variations of Mobile Manipulation Actions through Generalized Robot Plans (Gayane Kazhoyan and Michael Beetz), In Proceedings of the Seventh Annual Conference on Advances in Cognitive Systems, 2019. [bibtex]
[5]	Executing Underspecified Actions in Real World Based on Online Projection (Gayane Kazhoyan and Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. [bibtex] [doi]
2020
[4]	Towards Plan Transformations for Real-World Mobile Fetch and Place (Gayane Kazhoyan, Arthur Niedzwiecki and Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2020. [bibtex]
[3]	Learning Motion Parameterizations of Mobile Pick and Place Actions from Observing Humans in Virtual Environments (Gayane Kazhoyan, Alina Hawkin, Sebastian Koralewski, Andrei Haidu and Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. [bibtex]
2021
[2]	The Robot Household Marathon Experiment (Gayane Kazhoyan, Simon Stelter, Franklin Kenghagho Kenfack, Sebastian Koralewski and Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2021. [bibtex]
2022
[1]	Simulation-Based Debugging of Formal Environment Models (Tim Meywerk, Arthur Niedzwiecki, Vladimir Herdt and Rolf Drechsler), In 30th Mediterranean Conference on Control and Automation, MED 2022, Vouliagmeni, Greece, June 28 - July 1, 2022, IEEE, 2022. [bibtex] [url] [doi]