Publications

2020

Journals

  1. F. Verdoja and M. Grangetto, “Graph Laplacian for Image Anomaly Detection”, Machine Vision and Applications 31: 11, 2020. (preprint) (link) (code)
  2. H. Melkas, L. Hennala, S. Pekkarinen and V. Kyrki, “Impacts of robot implementation on care personnel and clients in elderly-care institutions”, International Journal of Medical Informatics, vol. 134, 2020. (link)

Conferences

  1. J. Lundell, F. Verdoja and V. Kyrki, “Beyond Top-Grasps Through Scene Completion”, accepted to IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. (preprint)
  2. Fares J. Abu-Dakka, Ville Kyrki. ‘Geometry-aware Dynamic Movement Primitives,’ IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020.
  3. K. Arndt, M. Hazara, A. Ghadirzadeh and V. Kyrki, “Meta Reinforcement Learning for Sim-to-real Domain Adaptation”, accepted to IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. (preprint)
  4. M. Racca, V. Kyrki and M. Cakmak, “Interactive Tuning of Robot Parameter Programs via Expected Divergence Maximization”,  accepted to 15th ACM/IEEE International Conference on Human-Robot Interaction (HRI20), Cambridge, United Kingdom, 2020. (preprint) (video) (code)

Workshops

  1. F. Verdoja and V. Kyrki, “On the Potential of Smarter Multi-layer Maps”, in the ICRA 2020 Workshop on Perception, Action, Learning (PAL). (preprint)

2019

Journals

  1. M. Hazara and V. Kyrki, “Transferring Generalizable Motor Primitives From Simulation to Real World,” IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 2172-2179, April 2019. (pdf) (video)
  2. P. Kondaxakis, K. Gulzar, S. Kinauer, I. Kokkinos, and V. Kyrki, “Robot–Robot Gesturing for Anchoring Representations“, IEEE Transactions on Robotics, vol. 35, no. 1, 2019.

Conferences

  1. M.Racca, A. Oulasvirta and V. Kyrki, “Teacher-Aware Active Robot Learning,” in 2019 ACM/IEEE International Conference on Human Robot Interaction (HRI), Daegu, Korea, 2019. (preprint)(code)
  2. M. Suomalainen, S. Calinon, E. Pignat, and V. Kyrki, “Improving dual-arm assembly by master-slave compliance“, in IEEE International Conference on Robotics and Automation, 2019.
  3. D. Ehlers, M. Suomalainen and V. Kyrki, “Imitating Human Search Strategies for Assembly“, in IEEE International Conference on Robotics and Automation, 2019.
  4. Oliver Struckmeier, Kshitij Tiwari, Mohammed Salman, Martin J. Pearson, Ville Kyrki, “ViTa-SLAM: A Bio-inspired Visuo-Tactile SLAM for Navigation while Interacting with Aliased Environments”, in 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS 2019) (preprint) (code)
  5. O. Struckmeier, M. Racca and V. Kyrki, “Autonomous Generation of Robust and Focused Explanations for Robot Policies”, in 2019 IEEE International Conference on Robot & Human Interactive Communication (RO-MAN’19) (preprint)
  6. M. Axelsson, M. Racca, D. Weir and V. Kyrki, “A Participatory Design Process of a Robotic Tutor of Assistive Sign Language for Children with Autism”, in 2019 IEEE International Conference on Robot & Human Interactive Communication (RO-MAN’19) (preprint)
  7. M. Hazara, X. Li, and V. Kyrki, “Active incremental learning of a contextual skill model,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019. (pdf)
  8. V. Petrik and V. Kyrki, “Feedback-based fabric strip folding”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019. (pdf)
  9. A. Hämäläinen, K. Arndt, A Ghadirzadeh and V. Kyrki, “Affordance learning for end-to-end visuomotor control”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019. (pdf)
  10. J. Lundell, F. Verdoja and V. Kyrki, “Robust grap planning over uncertain shape completions”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019. (pdf)
  11. João Silvério, Yanlong Huang, Fares J. Abu-Dakka, Leonel Rozo, Darwin G. Caldwell. ‘Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives,’ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019. (preprint)
  12. F. Verdoja, J. Lundell and V. Kyrki, “Deep Network Uncertainty Maps for Indoor Navigation”, IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019. (pdf)

Workshops

  1. Oliver Struckmeier, Kshitij Tiwari, Martin J. Pearson, Ville Kyrki, “ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAM”, in the ICRA 2019 Workshop on Integrating Vision and Touch for Multimodal and Cross-modal Perception. (preprint) (pdf)

2018

Journals

  1. D. Ortenzi, R. Muthusamy, A. Freddi, A. Monteriù and V. Kyrki, “Dual-arm cooperative manipulation under joint limit constraints”, Robotics and Autonomous Systems 99, 2018. (link)
  2. S. Sierla, V. Kyrki, P. Aarnio, and V. Vyatkin, “Automatic assembly planning based on digital product descriptions”, Computers in Industry 97, 2018. (link)
  3. M. Capecci, M.G. Ceravolo, F. Ferracuti, S. Iarlori, V. Kyrki, A. Monteriù, L. Romeo, F. Verdini, “A hidden semi-Markov model based approach for rehabilitation exercise assessment”, Journal of biomedical informatics 78, 2018. (link)

Conferences

  1. J. Lundell, F. Verdoja, and V. Kyrki, “Hallucinating robots: Inferring obstacle distances from partial laser measurements,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. (preprint) (video) (code)
  2. M. Suomalainen, J. Koivumäki, S. Lampinen, V. Kyrki and J. Mattila, “Learning from Demonstration for Hydraulic Manipulators” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. (preprint) (video)
  3. T. Hagos, M. Suomalainen and V. Kyrki, “Segmenting and Sequencing of Compliant Motions” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. (preprint) (video)
  4. S. Sharma, M. Suomalainen and V. Kyrki, “Compliant Manipulation of Free-Floating Objects.”  In Robotics and Automation (ICRA), 2018 IEEE International Conference on. IEEE, 2018. (link) (video)
  5. M. Hazara and V. Kyrki, “Speeding Up Incremental Learning Using Data Efficient Guided Exploration.” In Robotics and Automation (ICRA), 2018 IEEE International Conference on. IEEE, 2018. (pdf) (video) (motivational video)
  6. M. Racca and V. Kyrki, “Active Robot Learning for Temporal Task models,” In Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction (HRI ’18). ACM, New York, NY, USA, 123-131. DOI: https://doi.org/10.1145/3171221.3171241 (link)
  7. M. Racca and V. Kyrki, “Challenges of Transparency for Learning Robots,” In the Explainable Robotic Systems workshop, held in conjunction with 2018 ACM/IEEE International Conference on Human-Robot Interaction (HRI ’18). (link)
  8. J. Lundell, R. Krug, E. Schaffernicht, T. Stoyanov, V. Kyrki, “Safe-To-Explore State Spaces: Ensuring Safe Exploration in Policy Search with Hierarchical Task Optimization”, IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). (pdf)
  9. V. Petrik and V. Kyrki, “Influence of Recent History to System Controllability”, NeurIPS 2018 Workshop on Reinforcement Learning under Partial Observability, 2018. (pdf)
  10. A. Angleraud, Q. Houbre, V. Kyrki, R. Pieters, “Human-robot interactive learning architecture using ontologies and symbol manipulation”, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). (pdf)
  11. U. Tariq, R. Muthusamy, V. Kyrki, “Grasp planning for load sharing in collaborative manipulation”, IEEE International Conference on Robotics and Automation (ICRA), 2018. (link)

2017

Journals

  1. J. Pajarinen and V. Kyrki, “Robotic manipulation of multiple objects as a POMDP”, Artificial Intelligence 247, 2017. (link)
  2. A. Veronese, M. Racca, R. Pieters and V. Kyrki, “Probabilistic Mapping of Human Visual Attention from Head Pose Estimation,” Frontiers in Robotics and AI, 2017. (link)

Conferences

  1. J. Pajarinen, V. Kyrki, M. Koval, S. Srinivasa, J. Peters, G. Neumann, “Hybrid control trajectory optimization under uncertainty”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. (pdf)
  2. M. Hazara and V. Kyrki, “Model selection for incremental learning of generalizable movement primitives,” in 18th IEEE International Conference on Advanced Robotics (ICAR 2017), Hong Kong, 2017. (pdf) (video)
  3. J. Lundell, M. Hazara, and V. Kyrki, “Generalizing movement primitives to new situations,” in Conference Towards Autonomous Robotic Systems, pp. 16–31, Springer, 2017. (pdf)
  4. M. Suomalainen and V. Kyrki, “A geometric approach for learning compliant motions from demonstration”,  in Humanoid Robots (Humanoids), IEEE-RAS 17th International Conference on, IEEE, 2017, arXiv:1709.02589. (video)

2016

Conferences

  1. M. Hazara, V. Kyrki, “Reinforcement learning for improving imitated in-contact skills”, in IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, Mexico, 2016. (pdf) (video)
  2. M. Hazara, V. Kyrki, “Reinforcement learning for improving imitated in-contact skills,” workshop on Human Robot Collaboration : Towards Co-Adaptive Learning Through Semi-Autonomy and Shared Control at Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference (pdf)
  3. M. Tykal, A. Montebelli, V. Kyrki. “Incrementally Assisted Kinesthetic Teaching for Programming by Demonstration.” The Eleventh ACM/IEEE International Conference on Human Robot Interaction. IEEE Press, 2016.
  4. M. Thabet, A. Montebelli, V. Kyrki, “Learning Movement Synchronization in Multi-component Robotic Systems”, in IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, 2016.
  5. I. Aleksi, J. Pajarinen, V. Kyrki. “Benchmarking RGB-D segmentation: Toy dataset of complex crowded scenes.” Computer Vision Theory and Applications (VISAPP) (2016).
  6. M. Capecci et al., “Physical Rehabilitation Exercises Assessment based on Hidden Semi-Markov Model by Kinect V2”, in IEEE International Conference on Biomedical and Health Informatics, Las Vegas, NV, USA, 2016.
  7. K. Luck, J. Pajarinen, E. Berger, V. Kyrki, H. Ben-Amor, “Sparse Latent Space Policy Search”, in AAAI Conference on Artificial Intelligence, AAAI 2016, Phoenix, AZ, USA, 2016.
  8. M. Racca, V. Kyrki, “Imitation learning for in-contact tasks“, IEEE ICRA 2016 Workshop “Exploiting contact and dynamics in manipulation”, 2016 (poster). video
  9. M. Suomalainen, V. Kyrki, “Learning Compliant Assembly Motions from Demonstration“, IEEE ICRA 2016 Workshop “Exploiting contact and dynamics in manipulation“, 2016 (poster).
  10. M. Racca, J. Pajarinen, A. Montebelli, V. Kyrki, “Learning in-contact control strategies from demonstration“, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, 2016.
  11. J. Rajamäki, K. Naderi, V. Kyrki, P. Hämäläinen, “Sampled Differential Dynamic Programming“, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, 2016.
  12. M. Suomalainen, V. Kyrki, “Learning Compliant Assembly Motions from Demonstration“, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, 2016.
  13. T. Stoyanov, R. Krug, R. Muthusamy, V. Kyrki, “Grasp Envelopes: Extracting Constraints on Gripper Postures from Online Reconstructed 3D Models,” in 2016 IEEE International Conference on Intelligent Robots and Systems (IROS), 2016.
  14. R. Muthusamy and V. Kyrki, “Performance metrics for robotic grasping system” IEEE IROS workshop on Evaluation and Benchmarking of Underactuated and Soft Robotic Hands , 2016 (poster).
  15. P. Kondaxakis, K. Gulzar, V. Kyrki, “Temporal Arm Tracking and Probabilistic Pointed Object Selectionfor Robot to Robot Interaction using Deictic Gestures“, in IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, Mexico, 2016 (poster).
  16. E. Halbach, A. Halme, and V. Kyrki, “Investigation of Robotic Material Loading Strategies using an Earthmoving Simulator”, 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016. (pdf)

2015

Journals

  1. E. Nikandrova, V. Kyrki, “Category-based task specific grasping”, Robotics and Autonomous Systems 70, 2015, pp. 25–35.
  2. J. Pajarinen, V. Kyrki, “Robotic manipulation of multiple objects as a POMDP”, Artificial Intelligence, 2015.

Conferences

  1. A. Montebelli, F. Steinmetz, V. Kyrki. “On handing down our tools to robots: Single-phase kinesthetic teaching for dynamic in-contact tasks.” Robotics and Automation (ICRA), 2015 IEEE International Conference on. IEEE, 2015. PDF
  2. F. Steinmetz, A. Montebelli, V. Kyrki. “Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks.” Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on. IEEE, 2015.
  3. K. Gulzar, V. Kyrki”See What I Mean— Probabilistic Optimization of Robot Pointing Gestures.”IEEE RAS International Conference on Humanoid Robots (Humanoids2015) Seoul, Korea, November 3-5 2015. PDF
  4. R. Muthusamy, C. P. Bechlioulis, K. J. Kyriakopoulos, V. Kyrki , “Task Specific Cooperative Grasp Planning for Decentralized Multi-Robot Systems,” in 2015 IEEE International Conference on Robotics and Automation, Seattle, Washington, May 2015.
  5. E. Kolycheva, V. Kyrki, “Task-specific Grasping of Similar Objects by Probabilistic Fusion of Vision and Tactile Measurements”, in IEEE RAS International Conference on Humanoid Robots, Seoul, Korea, 2015.
  6. J. Pajarinen, V. Kyrki, “Decision Making under Uncertain Segmentations”, in IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, 2015.

2014

Journals

  1. P. Hämäläinen, S. Eriksson, E. Tanskanen, V. Kyrki, J. Lehtinen, “Online motion synthesis using sequential Monte Carlo”, ACM Transactions on Graphics 33(4), 2014. Also published in SIGGRAPH 2014.
  2. J. Ilonen, J. Bohg, V. Kyrki, “Three-dimensional object reconstruction of symmetric objects by fusing visual and tactile sensing”, International Journal of Robotics Research 33(2), 2014. (pdf)
  3. E. Nikandrova, J. Laaksonen, V. Kyrki, “Towards informative sensor-based grasp planning”, Robotics and Autonomous Systems 62(3), 2014, pp. 340–354. 

Conferences

  1. F. Benetazzo et al., “Autonomous assistive robot for respiratory rate detection and tracking”, in Ambient Assisted Living: Italian Forum 2013, Springer International Publishing, 2014, pp. 61–72.
  2. J. Dabrowski, P. Kondaxakis, V. Kyrki, “Holding Hands – Guiding Humanoid Walking Using Sensorless Force Control”, in IEEE International Conference on Human-Robot Interactive Communication, RO-MAN 2014, Edinburgh, UK, 2014.
  3. P. Kondaxakis, J. Pajarinen, V. Kyrki, “Real-Time Recognition of Pointing Gestures for Robot to Robot Interaction”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, IL, US, 2014.
  4. R. Muthusamy, V. Kyrki, “Decentralized Approaches for Cooperative Grasp Planning”, in International Conference on Control, Automation, Robotics and Computer Vision, ICARCV 2014, Singapore, 2014.
  5. J. Pajarinen, V. Kyrki, “Robotic Manipulation in Object Composition Space”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, IL, US, 2014.
  6. R. Muthusamy, V. Kyrki, “Decentralized Approaches for Cooperative Grasp Planning,” in The 13th International Conference on Control, Automation, Robotics and Vision, Marina Bay Sands, Singapore, December 2014.

2013

Journals

  1. J. Felip, J. Laaksonen, A. Morales, V. Kyrki, “Manipulation primitives: A paradigm for abstraction and execution of grasping and manipulation tasks”, Robotics and Autonomous Systems 61(3), 2013, pp. 283-296.

Conferences

  1. J. Ilonen, J. Bohg, V. Kyrki, “Fusing Visual and Tactile Sensing for 3-D Object Reconstruction”, in IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013.
  2. M. Myrsky et al., “Simulation-Based Risk Assessment of Robot Fleets in Flooded Environments”, in IEEE International Conference on Emerging Technology & Factory Automation, Cagliari, Italy, 2013.

2012

Conferences

  1. J. Laaksonen, E. Nikandrova, V. Kyrki, “Probabilistic Sensor-based Grasping”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Portugal, 2012, pp. 2019–2026.
  2. E. Nikandrova, V. Kyrki, “What do contacts tell about an object?”, in IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 2012, pp. 1895–1900.
  3.  E. Nikandrova, J. Laaksonen, V. Kyrki, “Explorative Sensor-Based Grasp Planning”, in Advances in Autonomous Robotics, Proceedings of the 13th Annual TAROS Conference, vol. 7429, Lecture Notes in Artificial Intelligence, Bristol, UK, 2012.
  4. J. Schill et al., “Learning continuous grasp stability for a humanoid robot hand based on tactile sensing”, in IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 2012, pp. 1901-1906.