Research
Papers
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
Refereed Conference Papers
2010 | |
[14] | CRAM – A Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments ( ), In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010. |
[13] | Becoming Action-aware through Reasoning about Logged Plan Execution Traces ( ), In IEEE/RSJ International Conference on Intelligent RObots and Systems., 2010. |
2011 | |
[12] | Parameterizing Actions to have the Appropriate Effects ( ), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. |
[11] | Robotic Roommates Making Pancakes ( ), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. |
2013 | |
[10] | Fast Temporal Projection Using Accurate Physics-Based Geometric Reasoning ( ), In IEEE International Conference on Robotics and Automation (ICRA), 2013. |
[9] | Constraint-based Movement Representation grounded in Geometric Features ( ), In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2013. |
2017 | |
[8] | Programming Robotic Agents with Action Descriptions ( ), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. |
2018 | |
[7] | Cognition-enabled Framework for Mixed Human-Robot Rescue Team ( ), In International Conference on Intelligent Robots and Systems (IROS), 2018. |
2019 | |
[6] | Accomplishing Variations of Mobile Manipulation Actions through Generalized Robot Plans ( ), In Proceedings of the Seventh Annual Conference on Advances in Cognitive Systems, 2019. |
[5] | Executing Underspecified Actions in Real World Based on Online Projection ( ), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. |
2020 | |
[4] | Towards Plan Transformations for Real-World Mobile Fetch and Place ( ), In IEEE International Conference on Robotics and Automation (ICRA), 2020. |
[3] | Learning Motion Parameterizations of Mobile Pick and Place Actions from Observing Humans in Virtual Environments ( ), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. |
2021 | |
[2] | The Robot Household Marathon Experiment ( ), In IEEE International Conference on Robotics and Automation (ICRA), 2021. |
2022 | |
[1] | Simulation-Based Debugging of Formal Environment Models ( ), In 30th Mediterranean Conference on Control and Automation, MED 2022, Vouliagmeni, Greece, June 28 - July 1, 2022, IEEE, 2022. |
Theses
- Lorenz Mösenlechner PhD Thesis on CRAM v1 (thesis overview can be found here)
- Tobias Christian Rittweiler Bachelor thesis on CRAM language
- Andreas Romero Frueh's Bachelor's thesis on using the CRAM bullet world for validating perception results
- Arthur Niedzwiecki's Bachelor's thesis on CRAM plan transformations
- Alina Hawkin's Bachelor's and Master' thesis on learning action parameters from humans acting in VR
- Vanessa H.'s Bachelor's thesis on cutting and pouring action plans for Bullet simulation
- Thomas Lipps's Bachelor's thesis on learning location costmaps from data of humans acting in VR
- Arthur Niedzwiecki's Master's thesis on integrating tactile events into CRAM plans for real-world assembly tasks