Publications

@inproceedings{hu2026a,
  author = {Hu, Yutong and Zaech, Jan-Nico and Nikolov, Nikolay and Yao, Yuanqi and Dey, Sombit and Albanese, Giuliano and Detry, Renaud and Gool, Luc Van and Paudel, Danda},
  title = {AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models},
  year = {2026},
  archiveprefix = {arXiv},
  booktitle = {Robotics: Science and Systems},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2603.10126}
}

@inproceedings{du2026a,
  author = {Du, Yurui and Song, Pinhao and Hu, Yutong and Detry, Renaud},
  title = {ELVIS: Ensemble-Calibrated Latent Imagination for Long-Horizon Visual MPC},
  year = {2026},
  archiveprefix = {arXiv},
  booktitle = {Robotics: Science and Systems},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2605.04709}
}

@inproceedings{fu2025a,
  author = {Fu, Ze and Song, Pinhao and Hu, Yutong and Detry, Renaud},
  title = {TASC: Task-Aware Shared Control for Teleoperated Manipulation},
  year = {2026},
  archiveprefix = {arXiv},
  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2509.10416}
}

@inproceedings{hu2026c,
  author = {Hu, Yutong and Zaech, Jan-Nico and Nikolov, Nikolay and Yao, Yuanqi and Dey, Sombit and Albanese, Giuliano and Detry, Renaud and Van Gool, Luc and Paudel, Danda Pani},
  title = {VLA Autoregressive Action Expert},
  year = {2026},
  booktitle = {From Data to Decisions (ICRA Workshop)},
  url = {https://openreview.net/forum?id=yHtCbAjk7O}
}

@inproceedings{hu2026b,
  author = {Hu, Yutong and Song, Pinhao and Wen, Kehan and Detry, Renaud},
  title = {Mini Diffuser: Accelerating Diffusion Policy Optimization via Two-Level Minibatching},
  year = {2026},
  booktitle = {Reinforcement Learning for Industrial Logistics (RL4IL, ICRA Workshop)},
  url = {https://openreview.net/forum?id=aTgBDw1gOC}
}

@inproceedings{fu2026b,
  author = {Fu, Ze and Song, Pinhao and Hu, Yutong and Detry, Renaud},
  title = {Task-Aware Shared Control for Teleoperated Manipulation},
  year = {2026},
  booktitle = {NeuroDesign in Human-Robot Interaction (ICRA Workshop)},
}

@inproceedings{fu2026a,
  author = {Fu, Ze and Song, Pinhao and Hu, Yutong and Detry, Renaud},
  title = {One-Shot Learning of Manipulation from RGB-D Videos via Object-Centric Interaction Reasoning},
  year = {2026},
  booktitle = {Beyond Teloperation: Learning from Diverse Human and Simulation Data (ICRA Workshop)},
}

@misc{song2026a,
  author = {Song, Pinhao and Fu, Ze and Hu, Yutong and Detry, Renaud},
  title = {Assistron: Bayesian Shared Autonomy with Off-the-shelf Vision-Language-Action Models},
  year = {2026},
  archiveprefix = {arXiv},
  howpublished = {arXiv:2606.23147 [cs.RO]},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2606.23147}
}

@misc{song2025a,
  author = {Song, Pinhao and Hu, Yutong and Li, Pengteng and Detry, Renaud},
  title = {Equivariant Volumetric Grasping},
  year = {2025},
  archiveprefix = {arXiv},
  howpublished = {arXiv:2507.18847 [cs.RO]},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2507.18847}
}

@article{hu2025a,
  author = {Hu, Yutong and Song, Pinhao and Wen, Kehan and Detry, Renaud},
  title = {Mini Diffuser: Fast Multi-task Diffusion Policy Training Using Two-level Mini-batches},
  year = {2025},
  archiveprefix = {arXiv},
  doi = {10.1109/LRA.2025.3632751},
  journal = {{IEEE} Robotics and Automation Letters},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2505.09430},
}

@inproceedings{hanut2025a,
  author = {Hanut, Louis and Du, Yurui and Vande Moere, Andrew and Detry, Renaud and Bruyninckx, Herman},
  title = {Robotic Framework for Iterative and Adaptive Profile Grading of Sand},
  year = {2025},
  booktitle = {{IEEE} International Conference on Robotics and Automation},
  doi = {10.1109/ICRA55743.2025.11128288},
}

@misc{song2025b,
  author = {Song, Pinhao and Du, Yurui and Saussus, Ophelie and Schrijver, Sofie De and Caprara, Irene and Janssen, Peter and Detry, Renaud},
  title = {Robot Trajectron V2: A Probabilistic Shared Control Framework for Navigation},
  year = {2025},
  archiveprefix = {arXiv},
  howpublished = {arXiv:2509.19954 [cs.RO]},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2509.19954}
}

@inproceedings{legrand2025a,
  author = {Legrand, Antoine and Detry, Renaud and Vleeschouwer, Christophe De},
  title = {NeRF-based Visualization of 3D Cues Supporting Data-Driven Spacecraft Pose Estimation},
  year = {2025},
  archiveprefix = {arXiv},
  booktitle = {International Conference on Space Robotics},
  primaryclass = {cs.CV},
  url = {https://arxiv.org/abs/2509.14890}
}

@article{soysal2025a,
  author = {Soysal, Deniz and García-Andrade, Xabier and Rodriguez, Laura E. and Sobron, Pablo and Barge, Laura M. and Detry, Renaud},
  title = {Reevaluating Convolutional Neural Networks for Spectral Analysis: A Focus on Raman Spectroscopy},
  year = {2025},
  annote = {doi: 10.1021/acsearthspacechem.5c00136},
  doi = {10.1021/acsearthspacechem.5c00136},
  journal = {ACS Earth and Space Chemistry},
  publisher = {American Chemical Society},
}

@misc{de-smijter2025a,
  author = {De Smijter, Elias and Detry, Renaud and Vleeschouwer, Christophe De},
  title = {On the Geometric Accuracy of Implicit and Primitive-based Representations Derived from View Rendering Constraints},
  year = {2025},
  archiveprefix = {arXiv},
  howpublished = {arXiv:2509.10241 [cs.CV]},
  primaryclass = {cs.CV},
  url = {https://arxiv.org/abs/2509.10241}
}

@article{du2025a,
  author = {Du, Yurui and Hanut, Louis and Bruyninckx, Herman and Detry, Renaud},
  title = {AREPO: Uncertainty-Aware Robot Ensemble Learning Under Extreme Partial Observability},
  year = {2025},
  doi = {10.1109/LRA.2025.3554451},
  journal = {{IEEE} Robotics and Automation Letters},
}

@misc{legrand2024a,
  author = {Legrand, Antoine and Detry, Renaud and Vleeschouwer, Christophe De},
  title = {Domain Generalization for 6D Pose Estimation Through NeRF-based Image Synthesis},
  year = {2024},
  archiveprefix = {arXiv},
  howpublished = {arXiv:2407.10762 [cs.CV]},
  primaryclass = {cs.CV},
  url = {https://arxiv.org/abs/2407.10762}
}

@inproceedings{song2024b,
  author = {Song, Pinhao and Li, Pengteng and Detry, Renaud},
  title = {Implicit Grasp Diffusion: Bridging the Gap between Dense Prediction and Sampling-based Grasping},
  year = {2024},
  booktitle = {Conference on Robot Learning},
}

@inproceedings{song2024a,
  author = {Song, Pinhao and Li, Pengteng and Aertbelien, Erwin and Detry, Renaud},
  title = {Robot Trajectron: Trajectory Prediction-based Shared Control for Robot Manipulation},
  year = {2024},
  booktitle = {{IEEE} International Conference on Robotics and Automation},
  doi = {10.1109/ICRA57147.2024.10611507},
}

@article{nair2024a,
  author = {Nair, Manu H. and Rai, Mini C. and Schaefer, Dirk and Detry, Renaud and Poozhiyil, Mithun and Rybicka, Justyna and Dulanty, Shan and Gotz, Josie and Roa, Maximo and Lampariello, Roberto and Govindaraj, Shashank and Gancet, Jeremi},
  title = {Robotic Upcycling and Recycling: Unraveling the Era of Sustainable In-Space Manufacturing},
  year = {2024},
  doi = {10.1007/s12567-024-00576-6},
  journal = {CEAS Space Journal},
}

@inproceedings{du2024a,
  author = {Du, Yurui and Hanut, Louis and Bruyninckx, Herman and Detry, Renaud},
  title = {Shotcrete Guidance in Harsh Environments with Uncertainty-Aware Reinforcement Learning},
  year = {2024},
  booktitle = {4th Workshop on Future of Construction: Safe, Reliable, and Precise Robots in Construction Environments (ICRA 2024 workshop)},
}

@inproceedings{hanut2024a,
  author = {Hanut, Louis and Du, Yurui and Detry, Renaud and Bruyninckx, Herman},
  title = {Skill-based Layered Control Architecture for the Robotic Manipulation of Amorphous Materials},
  year = {2024},
  booktitle = {43rd Benelux Meeting on Systems and Control},
}

@inproceedings{legrand2024c,
  author = {Legrand, Antoine and Detry, Renaud and Vleeschouwer, Christophe De},
  title = {Leveraging Neural Radiance Fields for Pose Estimation of an Unknown Space Object during Proximity Operations},
  year = {2024},
  archiveprefix = {arXiv},
  booktitle = {International Conference on Space Robotics Workshop},
  primaryclass = {cs.CV},
  url = {https://arxiv.org/abs/2405.12728}
}

@article{legrand2024b,
  author = {Legrand, Antoine and Detry, Renaud and Vleeschouwer, Christophe De},
  title = {Domain Generalization for In-Orbit 6D Pose Estimation},
  year = {2024},
  archiveprefix = {arXiv},
  doi = {10.2514/1.I011498},
  journal = {AIAA Journal of Aerospace Information Systems},
  primaryclass = {cs.CV},
  url = {https://arxiv.org/abs/2406.11743}
}

@inproceedings{legrand2023a,
  author = {Legrand, Antoine and Detry, Renaud and De Vleeschouwer, Christophe},
  title = {End-to-end Neural Estimation of Spacecraft Pose with Intermediate Detection of Keypoints},
  year = {2023},
  booktitle = {Computer Vision -- ECCV 2022 Workshops},
  doi = {10.1007/978-3-031-25056-9_11},
  pages = {154--169},
}

@article{carignan2022c,
  author = {Carignan, Craig R. and Detry, Renaud and Saaj, Mini Chakravarthini and Marani, Giacomo and Vander Hook, Joshua D.},
  title = {Editorial: Robotic In-Situ Servicing, Assembly and Manufacturing},
  year = {2022},
  doi = {10.3389/frobt.2022.887506},
  issn = {2296-9144},
  journal = {Frontiers in Robotics and AI},
  url = {https://www.frontiersin.org/article/10.3389/frobt.2022.887506},
  volume = {9}
}

@inproceedings{alvarez2022a,
  author = {Tiñini Alvarez, Israel Raul and Perez, Ignacio and Wiese, Tim and Bielenberg, Laura and Detry, Renaud},
  title = {Sample-Tube Pose Estimation Based on Two- Stage Approach for Fetching on Mars Surface},
  year = {2022},
  booktitle = {16th Symposium on Advanced Space Technologies in Robotics and Automation},
}

@article{kessens2022q,
  author = {Kessens, Chad C. and Kaplan, Matthew and Rocks, Trevor and Osteen, Philip R. and Rogers, John and Stump, Ethan and Hurwitz, Arnon and Fink, Jonathan and Quang, Long and Gonzalez, Mark and Patel, Jaymit and DiBlasi, Michael and Patel, Shiyani and Weiker, Matthew and Patel, Dilip and Bowkett, Joseph and Detry, Renaud and Karumanchi, Sisir and Matthies, Larry and Burdick, Joel and Oza, Yash and Agarwal, Aditya and Dornbush, Andrew and Saxena, Dhruv Mauria and Likhachev, Maxim and Schmeckpeper, Karl and Daniilidis, Kostas and Kamat, Ajinkya and Mandalika, Aditya and Choudhury, Sanjiban and Srinivasa, Siddhartha S.},
  title = {Human-Scale Mobile Manipulation Using RoMan},
  year = {2022},
  doi = {10.55417/fr.2022041},
  journal = {Field Robotics},
  pages = {1232–1262},
  volume = {2},
}

@article{bowkett2022q,
  author = {Bowkett, Joseph and Karumanchi, Sisir and Detry, Renaud},
  title = {Grasping and Transport of Unstructured Collections of Massive Objects},
  year = {2022},
  doi = {10.55417/fr.2022014},
  journal = {Field Robotics},
  pages = {385–405},
  volume = {2},
}

@article{pham2021a,
  author = {Pham, Tu-Hoa and Seto, William and Daftry, Shreyansh and Ridge, Barry and Hansen, Johanna and Thrush, Tristan and der Merwe, Mark Van and Maggiolino, Gerard and Brinkman, Alexander and Mayo, John and Cheng, Yang and Padgett, Curtis and Kulczycki, Eric and Detry, Renaud},
  title = {Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching},
  year = {2021},
  doi = {10.1109/LRA.2021.3067281},
  journal = {{IEEE} Robotics and Automation Letters},
}

@inproceedings{daftry2021g,
  author = {Daftry, Shreyansh and Ridge, Barry and Seto, William and Pham, Tu-Hoa and Ilhardt, Peter and Maggiolino, Gerard and Van der Merwe, Mark and Brinkman, Alex and Mayo, John and Kulczyski, Eric and Detry, Renaud},
  title = {Machine Vision based Sample-Tube Localization for Mars Sample Return},
  year = {2021},
  booktitle = {{IEEE Aerospace Conference}},
  doi = {10.1109/AERO50100.2021.9438364},
}

@inproceedings{sonawani2020a,
  author = {Sonawani, Shubham and Alimo, Ryan and Detry, Renuad and Jeong, Daniel and Hess, Andrew and Amor, Heni Ben},
  title = {Assistive Relative Pose Estimation for On-orbit Assembly using Convolutional Neural Networks},
  year = {2020},
  booktitle = {AIAA SciTech Forum},
  doi = {10.2514/6.2020-2096},
  url = {https://arc.aiaa.org/doi/pdf/10.2514/6.2020-2096}
}

@inproceedings{pham2020a,
  author = {Pham, Tu-Hoa and Seto, William and Daftry, Shreyansh and Brinkman, Alexander and Mayo, John and Cheng, Yang and Padgett, Curtis and Kulczycki, Eric and Detry, Renaud},
  title = {Rover Localization for Tube Pickup: Dataset, Methods and Validation for Mars Sample Return Planning},
  year = {2020},
  booktitle = {{IEEE} Aerospace Conference},
  doi = {10.1109/AERO47225.2020.9172300},
}

@inproceedings{sonawani2020b,
  author = {Sonawani, S. and Kailas, S. and Detry, R. and Alimo, R. and Backus, S. and McCormick, R. and Mukherjee, R. and Wehage, K. and Amor, H. Ben},
  title = {Robotic In-Space Assembly with Arm-Augmented Cubesats},
  year = {2020},
  booktitle = {Opportunities and Challenges in Space Robotics (Workshop at ICRA 2020)},
}

@article{uckert2020a,
  author = {Uckert, Kyle and Parness, Aaron and Chanover, Nancy and Eshelman, Evan J. and Abcouwer, Neil and Nash, Jeremy and Detry, Renaud and Fuller, Christine and Voelz, David and Hull, Robert and Flannery, David and Bhartia, Rohit and Manatt, Kenneth S. and Abbey, William J. and Boston, Penelope},
  title = {Investigating Habitability with an Integrated Rock-Climbing Robot and Astrobiology Instrument Suite},
  year = {2020},
  doi = {10.1089/ast.2019.2177},
  journal = {Astrobiology},
}

@article{massari2019a,
  author = {Massari, Luca and Oddo, Calogero M. and Sinibaldi, Edoardo and Detry, Renaud and Bowkett, Joseph and Carpenter, Kalind C.},
  title = {Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor},
  year = {2019},
  doi = {10.3389/fnbot.2019.00008},
  journal = {Frontiers In Neurorobotics},
}

@inproceedings{prasanna2019a,
  author = {Prasanna, Sahana and Massari, Luca and Sinibaldi, Edoardo and Detry, Renaud and Bowkett, Joseph and Carpenter, Kalind and Oddo, Calogero Maria},
  title = {Neuromorphic tactile sensor array based on fiber Bragg gratings to encode object qualities},
  year = {2019},
  booktitle = {SPIE Optics + Photonics},
  doi = {10.1117/12.2530733}
}

@article{hjelm2019a,
  author = {Hjelm, Martin and Ek, Carl Henrik and Detry, Renaud and Kragic, Danica},
  title = {Invariant Feature Mappings for Generalizing Affordance Understanding Using Regularized Metric Learning},
  year = {2019},
  journal = {arXiv preprint arXiv:1901.10673},
}

@inproceedings{wu2019a,
  author = {Wu, Philipp and Koch, Justin and Pailevanian, Torkom and Garrett, Michael and Levine, Dan and Yahnker, Christopher and Gildner, Matthew and Nash, Jeremy and Detry, Renaud},
  title = {Reduced Backscatter for 3D Scene Reconstruction for Turbid Underwater Environments},
  year = {2019},
  booktitle = {Underwater Robotics Perception (ICRA 2019 Workshop)},
}

@inproceedings{koch2018a,
  author = {Koch, Justin and Pailevanian, Torkom and Garrett, Michael and Yahnker, Christopher and Detry, Renaud and Levine, Dan and Gildner, Matthew},
  title = {Development of a Robotic Limb for Underwater Mobile Manipulation},
  year = {2018},
  booktitle = {{MTS/IEEE} OCEANS},
  doi = {10.1109/OCEANSKOBE.2018.8559128},
}

@incollection{ono2018a,
  author = {Ono, Masahiro and Mitchel, Karl and Parness, Aaron and Carpenter, Kalind and Iacoponi, Saverio and Simonson, Ellie and Curtis, Aaron and Ingham, Mitch and Budney, Charles and Estlin, Tara and Parcheta, Carolyn and Detry, Renaud and Nash, Jeremy and de la Croix, Jean-Pierre and Kawata, Jessie and Hand, Kevin},
  title = {Enceladus Vent Explorer Concept},
  year = {2018},
  booktitle = {Outer Solar System: Prospective Energy and Material Resources},
  doi = {10.1007/978-3-319-73845-1_13},
  editor = {Badescu, Viorel and Zacny, Kris},
  isbn = {978-3-319-73845-1},
  pages = {665--717},
  publisher = {Springer International Publishing}
}

@inproceedings{detry2018a,
  author = {Detry, R. and Koch, J. and Pailevanian, T. and Garrett, M. and Levine, D. and Yahnker, C. and Gildner, M.},
  title = {Turbid-water Subsea Infrastructure 3D Reconstruction with Assisted Stereo},
  year = {2018},
  booktitle = {{MTS/IEEE} OCEANS},
  doi = {10.1109/OCEANSKOBE.2018.8559091},
}

@inproceedings{uckert2018a,
  author = {Uckert, K and Parness, A and Chanover, N and Voelz, D and Boston, PJ and Bhartia, R and Flannery, D and Abcouwer, N and Fuller, C and Nash, J and Curtis, A and Detry, R and Hull, R},
  title = {An Investigation of a Terrestrial Lava Tube with an Instrument Payload Integrated with the LEMUR Rock-Climbing Robot},
  year = {2018},
  booktitle = {AGU Fall Meeting Abstracts},
}

@article{mahler2018a,
  author = {Mahler, J. and Platt, R. and Rodriguez, A. and Ciocarlie, M. and Dollar, A. and Detry, R. and Roa, M. A. and Yanco, H. and Norton, A. and Falco, J. and v. Wyk, K. and Messina, E. and Leitner, J. and Morrison, D. and Mason, M. and Brock, O. and Odhner, L. and Kurenkov, A. and Matl, M. and Goldberg, K.},
  title = {Guest Editorial Open Discussion of Robot Grasping Benchmarks, Protocols, and Metrics},
  year = {2018},
  doi = {10.1109/TASE.2018.2871354},
  issn = {1545-5955},
  journal = {{IEEE} Transactions on Automation Science and Engineering},
  month = oct,
  number = {4},
  pages = {1440-1442},
  volume = {15}
}

@inproceedings{bowkett2018a,
  author = {Bowkett, Joseph and Burdick, Joel and Matthies, Larry and Detry, Renaud},
  title = {Semantic Understanding of Task Outcomes: Visually Identifying Failure Modes Autonomously Discovered in Simulation},
  year = {2018},
  booktitle = {Representing a Complex World: Perception, Inference, and Learning for Joint Semantic, Geometric, and Physical Understanding (ICRA 2018 Workshop)},
}

@inproceedings{zhang2018a,
  author = {Zhang, Mabel and ten Pas, Andreas and Detry, Renaud and Daniilidis, Kostas},
  title = {Tactile-Visual Integration for Task-Aware Grasping},
  year = {2018},
  booktitle = {RSS Pioneers (RSS 2018 Workshop)},
}

@inproceedings{lee2018a,
  author = {Lee, Bhoram and Detry, Renaud and Moreno, Jasmine and Lee, Daniel D. and Kulczycki, Eric},
  title = {Monocular Visual Pose Estimation via Online Sampling for Mars Sample-Tube Pickup},
  year = {2018},
  booktitle = {{IEEE} Aerospace Conference},
  doi = {10.1109/AERO.2018.8396698},
}

@inproceedings{sobron2018a,
  author = {Sobron, Pablo and Barge, Laura M and Amend, Jan and Burnett, Justin and Detry, Renaud and Doloboff, Ivria and Kelley, Deborah S and Marburg, Aaron and Misra, Anupam K and Nawaz, Anuscheh and others},
  title = {Exploring Underwater Vent Systems: New Technologies and Strategies to Advance Life Detection and Scientific Understanding of Ocean Worlds},
  year = {2018},
  booktitle = {AGU Fall Meeting Abstracts},
}

@inproceedings{detry2017a,
  author = {Detry, Renaud and Papon, Jeremie and Matthies, Larry},
  title = {Learning to Grasp with a Deep Network for 2D Context and Geometric Prototypes for 3D Structure},
  year = {2017},
  booktitle = {Learning and control for autonomous manipulation systems: the role of dimensionality reduction (ICRA 2017 Workshop)},
}

@inproceedings{papon2017a,
  author = {Papon, Jeremie and Detry, Renaud and Vieira, Peter and Brooks, Sawyer and Srinivasan, Thirupathi and Peterson, Ariel and Kulczycki, Eric},
  title = {Martian Fetch: Finding and Retrieving Sample-Tubes on the Surface of Mars},
  year = {2017},
  booktitle = {{IEEE} Aerospace Conference},
  doi = {https://doi.org/10.1109/AERO.2017.7943649},
}

@inproceedings{detry2017d,
  author = {Detry, Renaud and Papon, Jeremie and Matthies, Larry},
  title = {Semantic and Geometric Scene Understanding for Single-view Task-oriented Grasping of Novel Objects},
  year = {2017},
  booktitle = {Workshop on Spatial-Semantic Representations in Robotics (RSS 2017 Workshop)},
}

@inproceedings{detry2017c,
  author = {Detry, Renaud and Papon, Jeremie and Matthies, Larry},
  title = {Task-oriented Grasping with Semantic and Geometric Scene Understanding},
  year = {2017},
  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
  doi = {https://doi.org/10.1109/IROS.2017.8206162},
}

@inproceedings{hyttinen2017a,
  author = {Hyttinen, Emil and Kragic, Danica and Detry, Renaud},
  title = {Estimating tactile data for adaptive grasping of novel objects},
  year = {2017},
  booktitle = {{IEEE/RAS} International Conference on Humanoid Robots},
  doi = {10.1109/HUMANOIDS.2017.8246940}
}

@inproceedings{detry2017b,
  author = {Detry, Renaud and Papon, Jeremie and Matthies, Larry},
  title = {Semantic and Geometric Scene Understanding for Task-oriented Grasping of Novel Objects from a Single View},
  year = {2017},
  booktitle = {Learning and control for autonomous manipulation systems: the role of dimensionality reduction (ICRA 2017 Workshop)},
}

@inproceedings{zhang2017a,
  author = {Zhang, Mabel and Detry, Renaud and Matthies, Larry and Daniilidis, Kostas},
  title = {Tactile-Vision Integration for Task-Compatible Fine-Part Manipulation},
  year = {2017},
  booktitle = {Revisiting Contact -- Turning a problem into a solution (RSS 2017 Workshop)},
}

@inproceedings{bekiroglu2016a,
  author = {Bekiroglu, Yasemin and Damianou, Andreas and Detry, Renaud and Stork, Johannes A and Kragic, Danica and Ek, Carl Henrik},
  title = {Probabilistic consolidation of grasp experience},
  year = {2016},
  booktitle = {{IEEE} International Conference on Robotics and Automation},
  doi = {https://dx.doi.org/10.1109/ICRA.2016.7487133}
}

@inproceedings{hyttinen2015a,
  author = {Hyttinen, Emil and Kragic, Danica and Detry, Renaud},
  title = {Learning the Tactile Signatures of Prototypical Object Parts for Robust Part-based Grasping of Novel Objects},
  year = {2015},
  booktitle = {{IEEE} International Conference on Robotics and Automation},
  doi = {https://dx.doi.org/10.1109/ICRA.2015.7139883},
}

@inproceedings{hjelm2015a,
  author = {Hjelm, Martin and Ek, Carl Henrik and Detry, Renaud and Kragic, Danica},
  title = {Learning Human Priors for Task-Constrained Grasping},
  year = {2015},
  booktitle = {International Conference on Computer Vision Systems},
  doi = {10.1007/978-3-319-20904-3_20},
  publisher = {Springer}
}

@inproceedings{kleinhans2015a,
  author = {Kleinhans, Ashley and Rosman, Benjamin and Michalik, Michael and Tripp, Bryan and Detry, Renaud},
  title = {{G3DB}: A Database of Successful and Failed Grasps with {RGB-D} Images, Point Clouds, Mesh Models and Gripper Parameters},
  year = {2015},
  booktitle = {Robotic Hands, Grasping and Manipulation (ICRA 2015 workshop)},
}

@article{kopicki2015a,
  author = {Kopicki, Marek and Detry, Renaud and Adjigble, Maxime and Stolkin, Rustam and Leonardis, Ales and Wyatt, Jeremy},
  title = {One shot learning and generation of dexterous grasps for novel objects},
  year = {2015},
  doi = {https://dx.doi.org/10.1177/0278364915594244},
  journal = {International Journal of Robotics Research},
  number = {8},
  pages = {959-976},
  volume = {35},
}

@article{nalpantidis2015a,
  author = {Nalpantidis, Lazaros and Detry, Renaud and Damen, Dima and Bleser, Gabriele and Cakmak, Maya and Erden, Mustafa Suphi},
  title = {Cognitive Robotics Systems},
  year = {2015},
  journal = {Journal of Intelligent \& Robotic Systems},
  pages = {3},
  publisher = {Springer Nature BV},
  volume = {80}
}

@inproceedings{kopicki2014a,
  author = {Kopicki, Marek and Detry, Renaud and Schmidt, Florian and Borst, Christoph and Stolkin, Rustam and Wyatt, Jeremy L.},
  title = {Learning Dexterous Grasps That Generalise To Novel Objects By Combining Hand And Contact Models},
  year = {2014},
  booktitle = {{IEEE} International Conference on Robotics and Automation},
  doi = {10.1109/ICRA.2014.6907647},
}

@inproceedings{parvathi-krishna-moorthy2014a,
  author = {Parvathi Krishna Moorthy, Sruthi Moorthy and Detry, Renaud and Boigelot, Bernard and Mercatoris, Benoît},
  title = {A vision-based autonomous inter-row weeder},
  year = {2014},
  booktitle = {ENVITAM PhD Student Day},
}

@inproceedings{kleinhans2014a,
  author = {Kleinhans, Ashley and Thill, Serge and Rosman, Benjamin and Detry, Renaud and Tripp, Bryan},
  title = {Modelling primate control of grasping for robotics applications},
  year = {2014},
  booktitle = {Second Workshop on Affordances: Visual Perception of Affordances and Functional Visual Primitives for Scene Analysis (in conjunction with ECCV 2014)},
}

@inproceedings{hjelm2014a,
  author = {Hjelm, Martin and Detry, Renaud and Ek, Carl Henrik and Kragic, Danica},
  title = {Representations for Cross-task, Cross-object Grasp Transfer},
  year = {2014},
  booktitle = {{IEEE} International Conference on Robotics and Automation},
  doi = {10.1109/ICRA.2014.6907697}
}

@inproceedings{rietzler2013a,
  author = {Rietzler, Alexander and Detry, Renaud and Kopicki, Marek and Wyatt, Jeremy L. and Piater, Justus},
  title = {Inertially-safe Grasping of Novel Objects},
  year = {2013},
  booktitle = {Cognitive Robotics Systems: Replicating Human Actions and Activities (Workshop at IROS 2013)},
}

@inproceedings{detry2013a,
  author = {Detry, Renaud and Ek, Carl Henrik and Madry, Marianna and Kragic, Danica},
  title = {Learning a Dictionary of Prototypical Grasp-predicting Parts from Grasping Experience},
  year = {2013},
  booktitle = {{IEEE} International Conference on Robotics and Automation},
  doi = {10.1109/ICRA.2013.6630635},
}

@inproceedings{detry2013c,
  author = {Detry, Renaud and Piater, Justus},
  title = {Unsupervised Learning Of Predictive Parts For Cross-object Grasp Transfer},
  year = {2013},
  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
  doi = {10.1109/IROS.2013.6696581},
}

@inproceedings{hjelm2013a,
  author = {Hjelm, Martin and Ek, Carl Henrik and Detry, Renaud and Kjellström, Hedvig and Kragic, Danica},
  title = {Sparse Summarization of Robotic Grasping Data},
  year = {2013},
  booktitle = {{IEEE} International Conference on Robotics and Automation},
  doi = {10.1109/ICRA.2013.6630707}
}

@inproceedings{detry2013b,
  author = {Detry, Renaud and Hjelm, Martin and Ek, Carl Henrik and Kragic, Danica},
  title = {Generalizing Task Parameters Through Modularization},
  year = {2013},
  booktitle = {Autonomous Learning Workshop (Workshop at ICRA 2013)},
}

@inproceedings{detry2012a,
  author = {Detry, Renaud and Ek, Carl Henrik and Madry, Marianna and Piater, Justus and Kragic, Danica},
  title = {Generalizing Grasps Across Partly Similar Objects},
  year = {2012},
  booktitle = {{IEEE} International Conference on Robotics and Automation},
  doi = {10.1109/ICRA.2012.6224992},
}

@inproceedings{bekiroglu2012b,
  author = {Bekiroglu, Yasemin and Detry, Renaud and Kragic, Danica},
  title = {Grasp Stability from Vision and Touch},
  year = {2012},
  booktitle = {Advances in Tactile Sensing and Touch-based Human Robot Interaction (Workshop at IROS 2012)},
}

@inproceedings{madry2012a,
  author = {Madry, Marianna and Ek, Carl Henrik and Detry, Renaud and Hang, Kaiyu and Kragic, Danica},
  title = {Improving Generalization for 3D Object Categorization with Global Structure Histograms},
  year = {2012},
  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
  doi = {10.1109/IROS.2012.6385874},
}

@inproceedings{detry2012b,
  author = {Detry, Renaud and Ek, Carl Henrik and Madry, Marianna and Kragic, Danica},
  title = {Compressing Grasping Experience into a Dictionary of Prototypical Grasp-predicting Parts},
  year = {2012},
  booktitle = {International Workshop on Human-Friendly Robotics},
}

@article{detry2011a,
  author = {Detry, R. and Kraft, D. and Kroemer, O. and Bodenhagen, L. and Peters, J. and Krüger, N. and Piater, J.},
  title = {Learning Grasp Affordance Densities},
  year = {2011},
  doi = {10.2478/s13230-011-0012-x},
  journal = {Paladyn.\ Journal of Behavioral Robotics},
  number = {1},
  pages = {1--17},
  volume = {2},
}

@inproceedings{bekiroglu2011c,
  author = {Bekiroglu, Yasemin and Detry, Renaud and Kragic, Danica},
  title = {Joint Observation of Object Pose and Tactile Imprints for Online Grasp Stability Assessment},
  year = {2011},
  booktitle = {Manipulation Under Uncertainty (Workshop at {IEEE} {ICRA} 2011)},
}

@article{piater2011a,
  author = {Piater, Justus and Jodogne, Sébastien and Detry, Renaud and Kraft, Dirk and Krüger, Norbert and Kroemer, Oliver and Peters, Jan},
  title = {Learning Visual Representations for Perception-Action Systems},
  year = {2011},
  doi = {10.1177/0278364910382464},
  journal = {International Journal of Robotics Research},
  number = {3},
  pages = {294--307},
  volume = {30},
}

@inproceedings{detry2011b,
  author = {Detry, Renaud and Piater, Justus},
  title = {Grasp Generalization Via Predictive Parts},
  year = {2011},
  booktitle = {Austrian Robotics Workshop},
}

@inproceedings{bekiroglu2011d,
  author = {Bekiroglu, Yasemin and Detry, Renaud and Kragic, Danica},
  title = {Learning Tactile Characterizations Of Object- And Pose-specific Grasps},
  year = {2011},
  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
  doi = {10.1109/IROS.2011.6094878},
}

@inproceedings{bodenhagen2011a,
  author = {Bodenhagen, Leon and Detry, Renaud and Piater, Justus and Krüger, Norbert},
  title = {What a successful grasp tells about the success chances of grasps in its vicinity},
  year = {2011},
  booktitle = {ICDL-EpiRob},
}

@inproceedings{detry2010c,
  author = {Detry, Renaud and Piater, Justus},
  title = {Continuous Surface-point Distributions for {3D} Object Pose Estimation and Recognition},
  year = {2010},
  booktitle = {Asian Conference on Computer Vision},
  doi = {10.1007/978-3-642-19318-7_45},
  pages = {572--585},
}

@incollection{detry2010a,
  author = {Detry, Renaud and Başeski, Emre and Popović, Mila and Touati, Younes and Krüger, Norbert and Kroemer, Oliver and Peters, Jan and Piater, Justus},
  title = {Learning Continuous Grasp Affordances by Sensorimotor Exploration},
  year = {2010},
  booktitle = {From Motor Learning to Interaction Learning in Robots},
  doi = {10.1007/978-3-642-05181-4_19},
  editor = {Sigaud, Olivier and Peters, Jan},
  pages = {451--465},
  publisher = {Springer-Verlag},
}

@article{kroemer2010c,
  author = {Kroemer, Oliver and Detry, Renaud and Piater, Justus and Peters, Jan},
  title = {Combining Active Learning and Reactive Control for Robot Grasping},
  year = {2010},
  doi = {10.1016/j.robot.2010.06.001},
  journal = {Robotics and Autonomous Systems},
  number = {9},
  pages = {1105--1116},
  volume = {58},
}

@inproceedings{kroemer2010a,
  author = {Kroemer, Oliver and Detry, Renaud and Piater, Justus and Peters, Jan},
  title = {Adapting Preshaped Grasping Movements using Vision Descriptors},
  year = {2010},
  booktitle = {From Animals to Animats 11 -- International Conference on the Simulation of Adaptive Behavior},
  doi = {10.1007/978-3-642-15193-4_15},
  pages = {156--166},
  volume = {6226},
}

@article{kraft2010a,
  author = {Kraft, Dirk and Detry, Renaud and Pugeault, Nicolas and Başeski, Emre and Guerin, Frank and Piater, Justus and Krüger, Norbert},
  title = {Development of Object and Grasping Knowledge by Robot Exploration},
  year = {2010},
  doi = {10.1109/TAMD.2010.2069098},
  journal = {{IEEE} Transactions on Autonomous Mental Development},
  number = {4},
  pages = {368--383},
  volume = {2},
}

@inproceedings{erkan2010a,
  author = {Erkan, Ayse and Kroemer, Oliver and Detry, Renaud and Altun, Yasemin and Piater, Justus and Peters, Jan},
  title = {Learning Probabilistic Discriminative Models of Grasp Affordances under Limited Supervision},
  year = {2010},
  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
  doi = {10.1109/IROS.2010.5650088},
  pages = {1586--1591},
}

@inproceedings{kroemer2010b,
  author = {Kroemer, Oliver and Detry, Renaud and Piater, Justus and Peters, Jan},
  title = {Grasping with Vision Descriptors and Motor Primitives.},
  year = {2010},
  booktitle = {International Conference on Informatics in Control, Automation and Robotics},
  doi = {10.1007/978-3-642-19539-6_14},
}

@phdthesis{detry2010d,
  author = {Detry, Renaud},
  title = {Learning of Multi-Dimensional, Multi-Modal Features for Robotic Grasping},
  year = {2010},
  school = {University of Liège},
}

@inproceedings{detry2010b,
  author = {Detry, Renaud and Kraft, Dirk and Buch, Anders Glent and Krüger, Norbert and Piater, Justus},
  title = {Refining Grasp Affordance Models by Experience},
  year = {2010},
  booktitle = {{IEEE} International Conference on Robotics and Automation},
  doi = {10.1109/ROBOT.2010.5509126},
  pages = {2287--2293},
}

@inproceedings{kroemer2009a,
  author = {Kroemer, Oliver and Detry, Renaud and Piater, Justus and Peters, Jan},
  title = {Active Learning using Mean Shift Optimization for Robot Grasping},
  year = {2009},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  doi = {10.1109/IROS.2009.5354345},
  pages = {2610--2615},
}

@inproceedings{kraft2009b,
  author = {Kraft, Dirk and Detry, Renaud and Pugeault, Nicolas and Başeski, Emre and Piater, Justus and Krüger, Norbert},
  title = {Learning Objects and Grasp Affordances through Autonomous Exploration},
  year = {2009},
  booktitle = {International Conference on Computer Vision Systems},
  doi = {10.1007/978-3-642-04667-4_24},
  pages = {235--244},
  url = {http://www.mip.sdu.dk/covig/publications/icvs2009CameraReady.pdf},
  volume = {5815},
}

@inproceedings{piater2009a,
  author = {Piater, Justus and Jodogne, Sébastien and Detry, Renaud and Kraft, Dirk and Krüger, Norbert and Kroemer, Oliver and Peters, Jan},
  title = {Learning Visual Representations for Interactive Systems},
  year = {2009},
  booktitle = {International Symposium on Robotics Research},
  doi = {10.1007/978-3-642-19457-3_24},
}

@inproceedings{detry2009c,
  author = {Detry, Renaud and Başeski, Emre and Krüger, Norbert and Popović, Mila and Touati, Younes and Kroemer, Oliver and Peters, Jan and Piater, Justus},
  title = {Learning Object-specific Grasp Affordance Densities},
  year = {2009},
  booktitle = {{IEEE} International Conference on Development and Learning},
  doi = {10.1109/DEVLRN.2009.5175520},
  pages = {1--7},
}

@inproceedings{detry2009b,
  author = {Detry, Renaud and Başeski, Emre and Krüger, Norbert and Popović, Mila and Touati, Younes and Piater, Justus},
  title = {Autonomous Learning of Object-specific Grasp Affordance Densities},
  year = {2009},
  booktitle = {Approaches to Sensorimotor Learning on Humanoid Robots (Workshop at the IEEE International Conference on Robotics and Automation)},
}

@article{detry2009a,
  author = {Detry, Renaud and Pugeault, Nicolas and Piater, Justus},
  title = {A Probabilistic Framework for {3D} Visual Object Representation},
  year = {2009},
  doi = {10.1109/TPAMI.2009.64},
  journal = {{IEEE} Trans. Pattern Anal. Mach. Intell.},
  number = {10},
  pages = {1790--1803},
  publisher = {IEEE Computer Society},
  volume = {31},
}

@inproceedings{detry2008a,
  author = {Detry, Renaud and Pugeault, Nicolas and Piater, Justus H.},
  title = {Probabilistic Pose Recovery Using Learned Hierarchical Object Models},
  year = {2008},
  address = {Berlin, Heidelberg},
  booktitle = {International Cognitive Vision Workshop (Workshop at the 6th International Conference on Vision Systems)},
  doi = {10.1007/978-3-540-92781-5_9},
  pages = {107--120},
  publisher = {Springer-Verlag},
  url = {http://www.montefiore.ulg.ac.be/~detryr/publications/Detry-2008-ICVW.pdf},
}

@inproceedings{piater2008b,
  author = {Piater, Justus and Detry, Renaud},
  title = {{3D} Probabilistic Representations for Vision and Action},
  year = {2008},
  booktitle = {Robotics Challenges for Machine Learning II (Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems)},
}

@inproceedings{piater2008a,
  author = {Piater, Justus and Scalzo, Fabien and Detry, Renaud},
  title = {Vision as Inference in a Hierarchical Markov Network},
  year = {2008},
  booktitle = {International Conference on Cognitive and Neural Systems},
  url = {http://www.montefiore.ulg.ac.be/~detryr/publications/Piater-2008-ICCNS.pdf},
}

@inproceedings{kraft2008a,
  author = {Kraft, D. and Başeski, E. and Popović, M. and Batog, A. M. and Kjær-Nielsen, A. and Krüger, N. and Petrick, R. and Geib, C. and Pugeault, N. and Steedman, M. and Asfour, T. and Dillmann, R. and Kalkan, S. and Wörgötter, F. and Hommel, B. and Detry, R. and Piater, J.},
  title = {Exploration and Planning in a Three-Level Cognitive Architecture},
  year = {2008},
  booktitle = {International Conference on Cognitive Systems (Workshop at the IEEE International Conference on Robotics and Automation)},
  url = {http://www.mip.sdu.dk/covig/publications/cogsys08.pdf},
}

@inproceedings{detry2007a,
  author = {Detry, Renaud and Piater, Justus H.},
  title = {Hierarchical Integration of Local {3D} Features for Probabilistic Pose Recovery},
  year = {2007},
  booktitle = {Robot Manipulation: Sensing and Adapting to the Real World (Workshop at Robotics, Science and Systems)},
  url = {http://www.montefiore.ulg.ac.be/~detryr/publications/Detry-2007-RM.pdf},
}

@mastersthesis{detry2006a,
  author = {Detry, Renaud},
  title = {Learning Multidimensional Feature Hierarchies},
  year = {2006},
  school = {University of Liège}
}