Introduction

A photo of Prof. Dongheui Lee.

© Dongheui Lee

Prof. Dongheui Lee

A photo of Prof. Dongheui Lee.

Dongheui Lee is Full Professor of Autonomous Systems at Institute of Computer Technology, Faculty of Electrical Engineering and Information Technology, TU Wien. She has been also leading a Human-centered assistive robotics group at the German Aerospace Center (DLR), since 2017. Prior, she was Associate Professor of Human-centered Assistive Robotics at the TUM Department of Electrical and Computer Engineering, Assistant Professor of Dynamic Human Robot Interaction at TUM, Project Assistant Professor at the University of Tokyo (2007-2009), and a research scientist at the Korea Institute of Science and Technology (KIST) (2001-2004). She obtained a PhD degree from the department of Mechano-Informatics, University of Tokyo, Japan in 2007. She was awarded a Carl von Linde Fellowship at the TUM Institute for Advanced Study (2011) and a Helmholtz professorship prize (2015). She has served as Senior Editor and a founding member of IEEE Robotics and Automation Letters (RA-L) and Associate Editor for the IEEE Transactions on Robotics. Her research interests include human motion understanding, human robot interaction, machine learning in robotics, and assistive robotics.

Bio

  • Since April 2022 - Full Professor, TU Wien, Austria
  • 2017 to March 2022 - Associate Professor (W3), Department of Electrical and Computer Engineering, Technical University of Munich (TUM), Germany
  • Since 2017 - Group Leader, Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany
  • 2009 to 2017 - Assistant Professor, Department of Electrical and Computer Engineering, Technical University of Munich (TUM), Germany
  • 2007 to 2009 - Project Assistant Professor, Department of Mechano-Informatics, The University of Tokyo, Japan
  • 2007 - Postdoctoral Researcher, Department of Mechano-Informatics, The University of Tokyo, Japan
  • 2007 - Ph.D. Information Science and Technology, Department of Mechano-Informatics, The University of Tokyo, Japan - "Statistical Mimesis from Partial Observation and its Application to Humanoid Robots"
  • 2001 to 2004 - Research Scientist, KIST (Korea Institute of Science and Technology), Korea

News and Updates

  • I gave keynote /  plenary at following conferences
    • European Robotics Forum (ERF) 2024, Humanoids 2019, RAAD 2023, ROMANSY 2020, CASA 2016, HFR 2022, HFR 2019, RiTA 2021, URAI 2017,  URAI 2015, Austrian Robotics Conference 2024. etc
  • I help with
    • Editor-in-Chief, International conference on ubiquitous robots (UR), 2023-2025
    • Co-Coordinator, the Distinguished Lecturer Program, IEEE-RAS Member Activity Board (MAB), since 2021
    • Associate Editor, Editorial Board, IEEE Transactions on Robotics (T-RO), 2021 -
    • Senior Editor of RA-L, 2015-2020
    • Program Chair of Humanoids 2023, RO-MAN 2020, etc
    • Organizing Committee of ICRA2027,  RSS 2023, Humanoids 2020, IROS 2016, ARSO 2012, etc
    • Award Committee of IEEE RAS Section Chapter, ICRA 2021, ICRA 2020, IROS 2020, etc
    • Editor, ICRA, 2013-2015, Ro-Man 2020, etc
    • Guest Editor of RA-M. Autonomous Robots, etc

Projects

  • INVERSE - INteractive robots that intuitiVely lEarn to inVErt tasks by ReaSoning about their Execution, HORIZON-CL4-2023-DIGITAL-EMERGING-01, Nr. 101136067, 1.1.2024-31.12.2027
  • PERSEO - PErsonalized Robotics as SErvice Oriented applications, Marie Sklodowska-Curie Actions - Innovative Training Networks (H2020-MSCA-ITN-2020 No. 955778), 1.1.2021-31.12.2024
  • LEROSH - Intelligente Roboterschleiftechnik fur das Handwerk, BMBF Handwerk 4.0 : digital und innovativ, 2022-2025
  • SOLAR - Plasticity of body representation of self and other in collaborative tasks, DFG Priority Programme "The Active Self", 1.1.2022-31.12.2024
  • DELIGHT - Life-span development of high-order body representations for the control of body balance: role of prediction during light haptic interactions with another individual, DFG Priority Programme "The Active Self", 1.1.2019-31.03.2022
  • GINA - Technologische Grundlagen fur effiziente und intuitive Mensch-Roboter-Interaktion, BMBF GINA hochwertig Gestaltete INteraktionsstrategien fur service- und Assistenzrobotik, 2018-2021
  • Extraction of Performance indicators in daily-life postrual activities, DAAD, 2015-2019
  • LEACON - LEArning-CONtrol tight interaction: a novel Approach to robust execution of mobile manipulation Tasks, H2020 Marie Sklodowska-Curie Action, 2016-2018
  • A learning-control integreated Approach for robust mobile manipulation Tasks, TUM Foundation Fellowship, 2015-2016
  • ROLITOS - Robotic light touch support during locomotion in balance impaired humans, TUM IGSSE Independent Research Project, DFG, 2015-2018
  • SAPHARI - Safe and Autonomous Physical Human-Aware Robot Interaction, Large-scale integrating project (IP), European Commission, 2011.11 ~ 2015.10, Principal Investigator, Workpackage Leader
  • DFG project "Learning and Control of Dynamic Manipulation Tasks from Human Demonstrations" (2013-2016), Coordinator
  • IAS - IAS Project "Towards Intuitive Robots" (2013-2016), Coordinator

Publications

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Book chapters 

  1. Dongheui Lee, Gesture, Posture, Facial Interfaces, Encyclopedia of Robotics, Springer, 2020. DOI : 10.1007/978-3-642-41610-1
  2. Sylvain Calinon and Dongheui Lee, Learning Control, Humanoid Robotics: a Reference, P. Vadakkepat and A. Goswami (eds.), Springer, 2017, DOI: 10.1007/978-94-007-7194-9_68-1

Journal articles

  1. Youssef Michel, Matteo Saveriano and Dongheui Lee, A Novel Safety-Aware Energy Tank Formulation Based on Control Barrier Functions, IEEE Robotics and Automation Letters (RA-L), , Vol. 9 , No. 6, pp. 5206-5213, 2024. DOI: 10.1109/LRA.2024.3389556  Webpage
  2. Youssef Michel, Matteo Saveriano and Dongheui Lee, A Passivity-based Approach for Variable Stiffness Control with Dynamical Systems, IEEE Transactions on Automation Science and Engineering, pp. - , 2023. DOI: 10.1109/TASE.2023.3324141
  3. Haotian Xue, Youssef Michel, and Dongheui Lee, A Shared Control Approach Based on First-Order Dynamical Systems and Closed-Loop Variable Stiffness Control, Journal of Intelligent and Robotic Systems, 109:85, 2023. DOI: 10.1007/s10846-023-02023-w
  4. Youssef Michel, Zhendong Li, and Dongheui Lee, A Learning Based Shared Control Approach For Contact Tasks, IEEE Robotics and Automation Letters (RA-L), Vol. 8, Issue 12, pp. 8002-8009, 2023. DOI: 10.1109/LRA.2023.3322332
  5. Hyemin Ahn, Youssef Michel, Thomas Eiband and Dongheui Lee, Vision-based Approximate Estimation of Muscle Activation Patterns for Tele-Impedance, IEEE Robotics and Automation Letters (RA-L), Vol. 8 , No. 8, pp. 5220-5227, 2023 DOI: 10.1109/LRA.2023.3293275
  6. David Paulius, Alejandro Agostini, Dongheui Lee, Long-Horizon Planning and Execution with Functional Object-Oriented Networks, IEEE Robotics and Automation Letters (RA-L), pp. 4513 - 4520, 2023. DOI: 10.1109/LRA.2023.3285510
  7. Ni, Zhifan., Esteve Valls Mascaró., Hyemin Ahn, & Dongheui Lee.  Human-object interaction prediction in videos through gaze following, Computer Vision and Image Understanding,  2023. Webpage
  8. Youssef Michel, Katrin Schulleri, Leif Johannsen, and Dongheui Lee, Coordination tending towards an anti-phase relationship determines greater sway reduction during entrainment with a simulated partner, Human Movement Science, vol. 89, 103090, 2023. doi: 10.1016/j.humov.2023.103090
  9. Chenguang Yang, Shan Luo, Nathan Lepora, Fanny Ficuciello, Dongheui Lee, Weiwei Wan, Chun-Yi Su, ”Biomimetic Perception, Cognition, and Control: From Nature to Robots [From the Guest Editors],¨ın IEEE Robotics and Automation Magazine (RAM), vol. 29, no. 4, pp. 8, Dec. 2022, doi: 10.1109/MRA.2022.3213199.
  10. Alessio Caporali, Matteo Pantano, Lucas Janisch, Daniel Regulin, Gianluca Palli, and Dongheui Lee, A Weakly Supervised Semi-automatic Image Labeling Approach for Deformable Linear Objects, IEEE Robotics and Automation Letters (RA-L), Vol. 8 , No. 2, pp. 1013-1020, Feb. 2023. doi: 10.1109/LRA.2023.3234799
  11. Thomas Eiband, Johanna Liebl, Christoph Willibald and Dongheui Lee, Online Task Segmentation by Merging Symbolic and Data-Driven Skill Recognition during Kinesthetic Teaching, Robotics and Autonomous Systems, 2023. doi: 10.1016/j.robot.2023.104367
  12. Huang Dan, Hyemin Ahn, Shile Li, Yueming Hu, and Dongheui Lee, Estimation of 6D pose of objects based on a variant adversarial autoencoder, Neural Processing Letters, 2023
  13. Thomas Eiband, Christoph Willibald, Isabel Tannert, Bernhard Weber, and Dongheui Lee, Collaborative Programming of Robotic Task Decisions and Recovery Behaviors. Autonomous Robots (AURO), 2022,
  14. Prajval Kumar Murali, Cong Wang, Dongheui Lee, Ravinder Dahiya, and Mohsen Kaboli, Deep Active Cross-Modal Visuo-Tactile Transfer Learning for Robotic Object Recognition, IEEE Robotics and Automation Letters (RA-L) with IROS presentation, Vol. 76 , No. 4, pp. 9557-9564, 2022
  15. Verena Hafner, Bernhard Hommel, Ezgi Kayhan, Dongheui Lee, Markus Paulus, and Stephan Verschoor, Editorial: The mechanisms underlying the human minimal self, Special Issue on The Mechanisms Underlying the Human Minimal Self, Frontiers in Psychology, 13:961480. pp., 2022
  16. Matteo Pantano, Qiaoyue Yang, Adrian Blumberg, Raven Reisch, Tobias Hauser, Benjamin Lutz, Daniel Regulin, Tobias Kamps, Konstantinos Traganos, Dongheui Lee, Influence of task decision autonomy on physical ergonomics and robot performances in an industrial human-robot collaboration scenario, Frontiers in Robotics and AI, 2022.
  17. Youssef Michel, Christian Ott and Dongheui Lee, Safety-Aware Hierarchical Passivity-Based Variable Impedance Control For Redundant Manipulators, IEEE Transactions on Robotics (T-RO), 2022 
  18. Matteo Pantano, Yurii Pavlovskyi, Erik Schulenburg, Konstantinos Traganos, Seyedamir Ahmadi, Daniel Regulin, Dongheui Lee, Jos Saenz, Novel approach using risk analysis component to continuously update collaborative robotics applications in the smart, connected factory model, Applied Sciences, 2022
  19. Katrin Schulleri, Leif Johannsen, Youssef Michel, and Dongheui Lee, Sex differences in the association of postural control with indirect measures of body representations, Scientific Reports - Nature, (2022) 12:4556.  DOI: 10.1038/s41598-022-07738-8
  20. Dongjun Lee, Seungmoon Choi, Euntai Kim, Jinhyun Kim and Dongheui Lee, Special Issue on the 2021 Ubiquitous Robots Conference, Journal of Intelligent Service Robotics, Springer, pp 1-2, 2022
  21. Youssef Michel, Rahaf Rahal, Claudio Pacchierotti, Paolo Robuffo Giordano, and Dongheui Lee, Bilateral Teleoperation with Adaptive Impedance Control for Contact Tasks, IEEE Robotics and Automation Letters (RA-L) with ICRA option, Vol. 6 , No. 3, pp 5429-5436, 2021
  22. Karna Potwar and Dongheui Lee, A center of pressure progression model for gait with heeled footwear, Gait and Posture, vol. 84, pp 300-307, 2021.DOI: 10.1016/j.gaitpost.2020.12.007
  23. Leif Johannsen, Karna Potwar, Matteo Saveriano, Satoshi Endo and Dongheui Lee, Robotic light touch assists human balance control during maximum forward reaching, The Journal of the Human Factors and Ergonomics Society, SAGE, 2020. DOI: 10.1177/0018720820950534 
  24. Alejandro Agostini, Matteo Saveriano, Dongheui Lee and Justus Piater, Manipulation Planning using Object-centered Predicates and Hierarchical Decomposition of Contextual Actions, IEEE Robotics and Automation Letters (RA-L) (Invited for presentation at IROS 2020),  vol. 5, pp. 5629-5636, 2020, DOI: 10.1109/LRA.2020.3009063  
  25. Matteo Pantano, Daniel Regulin, Benjamin Lutz, Dongheui Lee, A human-cyber-physical system approach to lean automation using an industrie 4.0 reference architecture, 30th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM), Procedia Manufacturing, vol. 51, Elsevier, pp. 1082-1090 , 2020. DOI: 10.1016/j.promfg.2020.10.152
  26. David Kaulmann, Matteo Saveriano, Dongheui Lee, Joachim Hermsdoerfer and Leif Johannsen, Stabilization of body balance with light touch following a mechanical perturbation: Adaption of sway and disruption of right Posterior Parietal Cortex by cTBS, PLOS ONE, 15(7): e0233988, 2020. DOI: 10.1371/journal.pone.0233988
  27. Thomas Eiband, Matteo Saveriano, and Dongheui Lee, Learning Conditional Tasks by Demonstration of Multiple Solutions, IEEE Robotics and Automation Letters (RA-L), Vol. 4 , No. 4, pp 4483-4490, 2019. DOI: 10.1109/LRA.2019.2935381
  28. Sang-ik An, and Dongheui Lee, Prioritized Inverse Kinematics: Generalization, IEEE Robotics and Automation Letters (RA-L), 2019, DOI: 10.1109/LRA.2019.2927945
  29. Pietro Falco, Shuang Lu, Ciro Natale, Salvatore Pirozzi and Dongheui Lee, A Transfer Learning Approach to Cross-modal Object Recognition: from Visual Observation to Robotic Haptic Exploration, IEEE Transactions on Robotics (TRO), Vol. 35 , No. 4, pp 987-998, 2019, DOI: 10.1109/TRO.2019.2914772 
  30. Affan Pervez, Hiba Latifee, Jee-Hwan Ryu and Dongheui Lee, Motion Encoding with Asynchronous Trajectories of Repetitive Teleoperation Tasks and its Extension to Human-Agent Shared Teleoperation, Autonomous Robots (AURO), 2019, DOI: 10.1007/s10514-019-09853-4
  31. Riccardo Caccavale, Matteo Saveriano, Alberto Finzi and Dongheui Lee, Kinesthetic Teaching and Attentional Supervision of Structured Tasks in Human-Robot Interaction, Autonomous Robots (AURO), 43(6), pp 1291-1307, 2019, DOI: 10.1007/s10514-018-9706-9
  32. MJ Kim, J Lin, K Kondak, Dongheui Lee, C Ott, Oscillation damping control of pendulum-like manipulation platform using moving masses, IFAC-PapersOnLine, (presented at the 12th IFAC Symposium on Robot Control (SYROCO)), 51 (22), 465-470, 2018
  33. Pietro Falco, Matteo Saveriano, Dharmil Shah and Dongheui Lee, Representing Human Motion with FADE and U-FADE: an Efficient Frequency-Domain Approach, Autonomous Robots (AURO), Vol. 43, Issue 1, pp 179–196, 2018, DOI: 10.1007/s10514-018-9722-9
  34. Pietro Falco, Abdallah Attawia, Matteo Saveriano, and Dongheui Lee, On Policy Learning Robust to Irreversible Events: an Application to Robotic In-Hand Manipulation, IEEE Robotics and Automation Letters (RA-L), Vol. 3 , No. 3, pp 1482-1489, 2018, DOI: 10.1109/LRA.2018.2800110 (invited for presentation at ICRA 2018)
  35. Bastian Deutschmann, Tong Liu, Alexander Dietrich, Christian Ott, and Dongheui Lee, A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism, IEEE Robotics and Automation Letters (RA-L), 3 (3), 1450-1457, 2018, DOI: 10.1109/LRA.2018.2800098
  36. Leonel Rozo, Heni Ben Amor, Sylvain Calinon, Anca Dragan, and Dongheui Lee, Special Issue on robot learning for human-robot collaboration, Autonomous Robots (AURO), 2018, DOI: 10.1007/s10514-018-9756-z 
  37. Affan Pervez and Dongheui Lee, Learning Task Parameterized Dynamic Movement Primitives using mixture of GMMs, Intelligent Service Robotics, Springer, 11(1), 61-78, 2017, DOI: 10.1007/s11370-017-0235-8
  38. Silvia Rossi and Dongheui Lee, Special Issue on User Profiling and Behavior Adaptation for Human-Robot Interaction, Pattern Recognition Letters, Vol. 99, pp. 1-2, 2017, DOI:10.1016/j.patrec.2017.06.020
  39. Shile Li and Dongheui Lee, RGB-D SLAM in Dynamic Environments using Static Point Weighting, IEEE Robotics and Automation Letters (RA-L), vol. 2, No. 4, pp. 2263-2270, 2017 (invited for presentation at IROS 2017)
  40. Dongheui Lee, Raffaele Soloperto, and Matteo Saveriano, Bidirectional Invariant Representation of Rigid Body Motions and its Application to Gesture Recognition and Reproduction, Autonomous Robots (AURO), 42(1), 125-145, 2017
  41. Matteo Saveriano, Fabian Hirt and Dongheui Lee, Humane-aware motion planning using dynamical systems, Pattern Recognition Letters, 99, 96-104, 2017
  42. Pietro Falco, Matteo Saveriano, Eka Gibran Hasany, Nicholas Kirk, and Dongheui Lee, A Human Action Descriptor based on Motion Coordination, IEEE Robotics and Automation Letters (RA-L), vol. 2, No. 2, pp. 811-818, 2017 (invited for presentation at ICRA 2017)
  43. Kai Hu, Christian Ott, and Dongheui Lee, Iterative Learning and Generalization of Compensative Zero-Moment Point Trajectory for Biped Walking, IEEE Transactions on Robotics (TRO), vol 32, No. 3, pp. 717-725, 2016 
  44. Vasiliki Koropouli, Azwirman Gusrialdi, Sandra Hirche, and Dongheui Lee, An extremum-seeking control approach for constrained robotic motion tasks, Control Engineering Practice, vol 52, pp. 1-14, 2016 
  45. Shile Li and Dongheui Lee, Fast Visual Odometry using Intensity assisted Iterative Closest Point, IEEE Robotics and Automation Letters (RA-L), vol. 1, No. 2, pp. 992-999, 2016 (invited for presentation at ICRA 2016)
  46. Vasiliki Koropouli, Sandra Hirche, and Dongheui Lee, Generalization of Force Control Policies from Demonstrations for Constrained Robotic Motion Tasks, Journal of Intelligent and Robotic Systems, pp. 1-16, 2015
  47. Dongheui Lee and Yoshihiko Nakamura , Motion Recognition and Recovery from Occluded Monocular Observations , Robotics and Autonomous Systems , 62(6), 818-832, (2014).
  48. S. Koo, Dongheui Lee and D. Kwon , Incremental object modeling and robust tracking of multiple objects from RGB-D point set data , Journal of Visual Communication and Image Representation, Special Issue on Visual Understanding and Applications with RGB-D Cameras , 25(1), pp. 108–121, (2013). 
  49. Kai Hu and Dongheui Lee , Prediction-based Synchronized Human Walking Motion Imitation by a Humanoid Robot , at - Automatisierungstechnik, Special Issue on Regelung von Laufrobotern , 60(2012) , no. 11 , 705-714 . 
  50. Dana Kulic, Christian Ott, Dongheui Lee, Junichi Ishikawa and Yoshihiko Nakamura , Incremental Learning of Full Body Motion Primitives and their Sequencing through Human Motion Observation , The International Journal of Robotics Research , 31 (2012) , no. 3 , 330-345 . 
  51. Dongheui Lee and Christian Ott , Incremental Kinesthetic Teaching of Motion Primitives Using the Motion Refinement Tube , Autonomous Robots , 31 (2011) , no. 2 , 115-131 . 
  52. Dongheui Lee, Christian Ott, Yoshihiko Nakamura , Mimetic Communication Model with Compliant Physical Contact in Human-Humanoid Interaction , The International Journal of Robotics Research ,29 (2010) , no. 13 , 1684–1704 . 
  53. Dongheui Lee and Yoshihiko Nakamura , Mimesis Model from Partial Observations for a Humanoid Robot , The International Journal of Robotics Research , 29 (2010) , no. 1 , 60-80 .
  54. Dongheui Lee and Woojin Chung , Discrete Status based Localization for Indoor Service Robots , IEEE Transactions on Industrial Electronics , 53 (2006) , no. 5 , 1737-1746 . 
  55. Tae-Seok Jin, Dongheui Lee, and Jang-Myung Lee , Position Improvement of a Human-following Mobile Robot Using Image Information of Walking Human , Journal of Control, Automation, and Systems Engineering (ICASE) Special Issue - Machine vision , (2005) , (in Korean) .
  56. Woojin Chung, Dongheui Lee, and Chang-Hyuk Choi , Laser Distance Sensor Application to Control of Mobile Robot , Journal of Control, Automation, and Systems Engineering (ICASE Magazine) , 8(2002) , no. 5 , 17-22 , (in Korean) .

Conference papers

  1. Donghyeon Kim, Seong-Su Park, Kwang-Hyun Lee, Dongheui Lee, Jee-Hwan Ryu, Is a Simulation better than Teleoperation for Acquiring Human Manipulation Data?, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. -, 2024
  2. Riccardo Arduini, Youssef Michel, Harsimran Singh, Julian Klodmann, and Dongheui Lee, Learning From Demonstration of Robot Motions And Stiffness Behaviors For Surgical Blunt Dissection, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. -, 2024
  3. Victor Kowalski, Thomas Eiband, Dongheui Lee, Kinesthetic Skill Refinement for Error Recovery in Skill-based Robotic Systems, international conference on ubiquitous robots (UR), New York, USA, June 24 - 27, 2024
  4. Esteve Valls Mascaro, Yashuai Yan, and Dongheui Lee, Robot Interaction Behavior Generation based on Social Motion Forecasting for Human-Robot Interaction, IEEE International Conference on Robotics and Automation (ICRA), pp. -, 2024 Project Page |  ArXiV Paper
  5. Shail Jadav, Johannes Heidersberger, Christian Ott, and Dongheui Lee, Shared Autonomy via Variable Impedance Control and Virtual Potential Field for Encoding Human Demonstrations , IEEE International Conference on Robotics and Automation (ICRA), pp. -, 2024 Project Page |  ArXiV Paper
  6. Esteve Valls Mascaro, Hyemin Ahn, Dongheui Lee, A Unified Masked Autoencoder with Patchified Skeletons for Motion Synthesis, Thirty-Eighth AAAI Conference on Artificial Intelligence (AAAI), pp. 5261-5269, 2024 Project Page |  ArXiV Paper
  7. Thomas Eiband, Florian Lay, Korbinian Nottensteiner, Dongheui Lee, Automatic Skill Recognition in a Knowledge-driven Robot Programming Framework, Procedia Computer Science, vol 232, pp. 595-605, Elsevier, 2024. DOI:10.1016/j.procs.2024.01.059 (presented at 5th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2023)
  8. Matteo Pantano, Vladislav Klass, Qiaoyue Yang, Akhil Sathuluri, Daniel Regulin, Lucas Janisch, Markus Zimmermann, and Dongheui Lee, Simplifying Robot Grasping in Manufacturing with a Teaching Approach based on a Novel User Grasp Metric, Procedia Computer Science, vol 232, pp. 1961-1971, Elsevier, 2024. DOI:10.1016/j.procs.2024.02.018 (presented at 5th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2023)
  9. Yan Y., Mascaró, E. V.,, & Lee, D. (2023). Unsupervised human-to-robot motion retargetting via expressive latent space. 2023 IEEE-RAS International Conference on Humanoid Robots (Humanoids). Project Page |  ArXiV Paper
  10. Matteo Pantano, Arianna Curioni, Daniel Regulin, Tobias Kamps and Dongheui Lee, Effects of Robotic Expertise and Task Knowledge on Physical Ergonomics and Joint Efficiency in a Human-Robot Collaboration Task, IEEE International Conference on Humanoid Robots (HUMANOIDS), pp. 139-146, 2023.
  11. Mascaró, E. V., Sliwowski, D., & Lee, D. (2023). HOI4ABOT: Human-Object Interaction Anticipation for Human Intention Reading Assistive roBOTs. In Conference on Robot Learning (CoRL), 2023.  Project Page | Paper
  12. Sang-ik An, Gyunghoon Park, and Dongheui Lee, Strictly Positive Realness-Based Feedback Gain Design Under Imperfect Input-Output Feedback Linearization in Prioritized Control Problem, IEEE Conference on Decision and Control (CDC), 2023.
  13. Youssef Michel, Matteo Saveriano, Fares Abu-Dakka, Dongheui Lee, Orientation Control with Variable Stiffness Dynamical Systems, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4457-4463, 2023. DOI: 10.1109/IROS55552.2023.10342531
  14. Manuel Stoiber, Mariam Elsayed, Anne Reichert, Florian Steidle, Dongheui Lee, Rudolph Triebel, Fusing Visual Appearance and Geometry for Multi-Modality 6DoF Object Tracking, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1170-1177, 2023. DOI: 10.1109/IROS55552.2023.10341961 ArXiV Paper | Paper
  15. Ahn, H., Mascaro, E. V., & Lee, D. (2023). "Can We Use Diffusion Probabilistic Models for 3D Motion Prediction?,  2023 IEEE International Conference on Robotics and Automation (ICRA). Project page | ArXiV Paper  |  Paper
  16. Esteve Valls Mascaro, Hyemin Ahn, and Dongheui Lee, Intention-Conditioned Long-Term Human Egocentric Action Anticipation, IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), pp. 6037-6046, 2023. DOI: 10.1109/WACV56688.2023.00599  Project Page | Paper
  17. Raven Reisch, Matteo Pantano, Lucas Joanisch, Alois Knoll and Dongheui Lee, Spatial Annotation of Time Series for Data Driven Quality Assurance in Additive Manufacturing, Procedia CIRP, vol 118, pp. 753-758, 2023. doi: 10.1016/j.procir.2023.06.129
  18. Sang-ik An, Gyunghoon Park, and Dongheui Lee, When Prioritization Meets Input-output Linearization: A Prioritized Multi-objective Control and Case Study with Two-link Manipulator, IEEE Conference on Decision and Control (CDC), 2022
  19. Esteve Valls Mascaro, Shuo Ma, Hyemin Ahn, Dongheui Lee, Robust Human Motion Forecasting using Transformer-based Model, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, Project Page | Paper | ArXiv Paper
  20. Christoph Willibald and Dongheui Lee, Multi-Level Task Learning Based on Intention and Constraint Inference for Autonomous Robotic Manipulation, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
  21. Matteo Pantano, Thomas Eiband, Dongheui Lee, Capability-based Frameworks for Industrial Robot Skills: a Survey, IEEE 18th International Conference on Automation Science and Engineering (CASE), 2022
  22. Hyemin Ahn, Obin Kwon, Kyungdo Kim, Jaeyeon Jeong, Howoong Jun, Hongjung Lee, Dongheui Lee,and Songhwai Oh, Visually Grounding Language Instruction for History-Dependent Manipulation, IEEE International Conference on Robotics and Automation (ICRA), 2022
  23. Vamsi Krishna Origanti, Thomas Eiband,  and Dongheui Lee, Automatic Parameterization of Motion and Force Controlled Robot Skills, the 9th International Conference on Robot Intelligence Technology and Applications (RiTA), pp., 2021 
  24. Matteo Pantano, Adrian Blumberg, Daniel Regulin, Tobias Hauser and Dongheui Lee, Design of a collaborative modular end effector consider-ing human values and safety requirements for industrial use cases, the 14th International Workshop on Human-Friendly Robotics (HFR), pp. 47-61, 2021  
  25. Hyemin Ahn, Dongheui Lee, Refining Action Segmentation with Hierarchical Video Representations, International Conference on Computer Vision (ICCV),  pp.16302-16310, 2021
  26. Isabel Tannert, Katrin Schulleri, Youssef Michel, Steeven Villa, Leif Johannsen, Joachim Hermsdrfer and Dongheui Lee, Immediate Effects of Vibrotactile Biofeedback Instructions on Human Postural Control, Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 7426-7432,  2021
  27. Vincent Hessfeld, Katrin Schulleri and Dongheui Lee, Assessment of balance instability by wearable sensor systems, Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 7455-7459, 2021 
  28. Jedrzej Orbik, Alejandro Agostini, Dongheui Lee, Inverse reinforcement learning for dexterous hand manipulation, IEEE international conference on development and Learning (ICDL), 2021
  29. Thomas Eiband and Dongheui Lee, Identification of Common Force-based Robot Skills from the Human and Robot Perspective, IEEE International Conference on Humanoid Robots (HUMANOIDS), pp.507-513, 2021
  30. Felix Franzel, Thomas Eiband, and Dongheui Lee, Detection of Collaboration and Collision Events during Contact Task Execution, IEEE International Conference on Humanoid Robots (HUMANOIDS), pp.376-383, 2021.
  31. Dominik Urbaniak, Alejandro Agostini, and Dongheui Lee, Combining Task and Motion Planning using Policy Improvement with Path Integrals, IEEE International Conference on Humanoid Robots (HUMANOIDS), pp.149-155, 2021.
  32. Xiao Chen, Youssef Michel, and Dongheui Lee, Closed-Loop Variable Stiffness Control of Dynamical Systems, IEEE International Conference on Humanoid Robots (HUMANOIDS), pp.163-169, 2021,
  33. Shengzhi Wang, George Mesesan, Johannes Englsberger, Dongheui Lee and Christian Ott, Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control , IEEE International Conference on Humanoid Robots (HUMANOIDS),
  34. Jedrzej Orbik, Shile Li, Dongheui Lee, Human hand motion retargeting for dexterous robotic hand, international conference on ubiquitous robots (UR), 2021
  35. David Paulius, Alejandro Agostini, Yu Sun, Dongheui Lee, A Road-map to Robot Task Execution with the Functional Object-Oriented Network, international conference on ubiquitous robots (UR), 2021
  36. Katrin H. Schulleri, Youssef Michel, Dongheui Lee, and Leif Johannsen, High-order body representations affect human body sway, 65th Annual Meeting of the German Society for Clinical Neurophysiology and Functional Imaging (DGKN), 2021
  37. Christoph Willibald, Thomas Eiband and Dongheui Lee, Collaborative Programming of Conditional Robot Tasks, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.5402-5409, 2020
  38. Anil Armagan, Guillermo Garcia-Hernando, Seungryul Baek, Shreyas Hampali, Mahdi Rad, Zhaohui Zhang, Shipeng Xie, MingXiu Chen, Boshen Zhang, Fu Xiong, Yang Xiao, Zhiguo Cao, Junsong Yuan, Pengfei Ren, Weiting Huang, Haifeng Sun, Marek Hruz, Jakub Kanis, Zdenek Krnoul, Qingfu Wan, Shile Li, Linlin Yang, Dongheui Lee, Angela Yao, Weiguo Zhou, Sijia Mei, Yunhui Liu, Adrian Spurr, Umar Iqbal, Pavlo Molchanov, Philippe Weinzaepfel, Romain Bregier, Gregory Rogez, Vincent Lepetit, Tae-Kyun Kim, Measuring Generalisation to Unseen Viewpoints, Articulations, Shapes and Objects for 3D Hand Pose Estimation under Hand-Object Interaction, European Conference on Computer Vision (ECCV), 2020 
  39. Zeju Qiu, Thomas Eiband, Shile Li and Dongheui Lee, Hand Pose-based Task Learning from Visual Observations with Semantic Skill Extraction, in Proc. IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 596 – 603, 2020. DOI: 10.1109/RO-MAN47096.2020.9223479
  40. Youssef Michel, Christian Ott and Dongheui Lee, Passivity-based variable impedance control for redundant manipulators, in Proc. IFAC World Congress (IFAC), 2020 
  41. Hiba Latifee, Affan Pervez, Jee-Hwan Ryu and Dongheui Lee, Mini-Batched Online Incremental Learning Through Supervisory Teleoperation with Kinesthetic Coupling, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 5453-5459, 2020. doi: 10.1109/ICRA40945.2020.9197444
  42. Shile Li, Haojie Wang, and Dongheui Lee, Hand Pose Estimation for Hand-Object Interaction Cases using Augmented Autoencoder, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 993-999, 2020. doi: 10.1109/ICRA40945.2020.9197299
  43. Linlin Yang, Shile Li, Dongheui Lee and Angela Yao , Aligning Latent Spaces for 3D Hand Pose Estimation, International Conference on Computer Vision (ICCV), 2019 
  44. Matteo Saveriano, and Dongheui Lee, Learning Barrier Functions for Constrained Motion Planning with Dynamical Systems, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 
  45. Shile Li and Dongheui Lee, Point-to-Pose Voting based Hand Pose Estimation using Residual Permutation Equivariant Layer, IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), 2019
  46. Thomas Eiband, Matteo Saveriano and Dongheui Lee, Learning Haptic Exploration Schemes for Adaptive Task Execution, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 7048-7054,  2019
  47. Matteo Saveriano, Felix Franzel and Dongheui Lee, Merging Position and Orientation Motion Primitives, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 7041-7047,  2019
  48. Matteo Saveriano, Michael Seegerer, Riccardo Caccavale, Alberto Finzi and Dongheui Lee, Symbolic Task Compression in Structured Task Learning, in Proc. IEEE International Conference on Robotic Computing (IRC), 2019 
  49. Zied Tayeb, Philipp Jakovleski, Zhong Chen, Jannick Lippert, Pablo Lanillos Pradas, Dongheui Lee and Gordon Cheng, Enabling the sense of touch and hand gesture decoding using vibrotactile stimulation and EMG signal for prosthetic hands control, in the 9th International IEEE EMBS Neural Engineering Conference (NER), 2019
  50. Affan Pervez, Hiba Latifee, Jee-Hwan Ryu, and Dongheui Lee, Human-Agent Shared Teleoperation: A Case Study Utilizing Haptic Feedback, In: Kajimoto H., Lee D., Kim SY., Konyo M., Kyung KU. (eds) Haptic Interaction. AsiaHaptics 2018. Lecture Notes in Electrical Engineering, vol 535. Springer, pp. pp 247-251, 2018. DOI: 10.1007/978-981-13-3194-7_56
  51. Karna Potwar, Leif Johannsen1, Matteo Saveriano, Martin Langer, and Dongheui Lee, Light touch postural guidance through a robotic system, AsiaHaptics, 2018
  52. Shile Li, Jan Woehlke and Dongheui Lee, Model-based Hand Pose Estimation for Generalized Hand Shape with Spatial Transformer Network, European Conference on Computer Vision (ECCV), 4th International Workshop on Observing and Understanding Hands in Action (HANDS2018), 2018 
  53. Matteo Saveriano and Dongheui Lee, Incremental Skill Learning of Stable Dynamical Systems, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
  54. Shanxin Yuan, Guillermo Garcia-Hernando, Bjorn Stenger, Tae-Kyun Kim, Gyeongsik Moon, Ju Yong Chang, Kyoung Mu Lee, Pavlo Molchanov, Liuhao Ge, Junsong Yuan, Xinghao Chen, Guijin Wang, Fan Yang, Kai Akiyama, Yang Wu, Qingfu Wan, Meysam Madadi, Sergio Escalera, Shile Li , Dongheui Lee, Iason Oikonomidis , and Antonis Argyros, 3D Hand Pose Estimation: From Current Achievements to Future Goals, IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), pp. 2636-2645, 2018 
  55. Affan Pervez, Yuecheng Mao and Dongheui Lee, Learning Deep Movement Primitives using Convolutional Neural Networks, IEEE International Conference on Humanoid Robots (HUMANOIDS), pp. 191-197, 2017
  56. Matteo Saveriano, Yuchao Yin, Pietro Falco, and Dongheui Lee, Learning Control Policies using a Simplified Robot Model, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4709-4715, 2017
  57. Riccardo Caccavale, Matteo Saveriano, Giuseppe Andrea Fontanelli, Fanny Ficuciello, Dongheui Lee and Alberto Finzi, Imitation Learning and Attentional Supervision of Dual-Arm Structured Tasks, IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EPIROB), pp. 66-71, 2017 
  58. Affan Pervez, Arslan Ali, Jee-Hwan Ryu and Dongheui Lee, Novel Learning fom Demonstration Approach for Repetitive Teleopearation Tasks, IEEE World Haptics, pp. 60-65, 2017
  59. Caroline Blocher, Matteo Saveriano, and Dongheui Lee, Learning Stable Dynamical Systems using Contraction Theory, the 14th international conference on ubiquitous robots and ambient intelligence (URAI), pp. 124-129, 2017. Outstanding Paper Award
  60. Pietro Falco, Lu Shuang, Andrea Cirillo, Ciro Natale, Salvatore Pirozzi and Dongheui Lee, Cross-modal Visuo-Tactile Object Recognition Using Robotic Active Exploration, in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2017 
  61. Riccardo Caccavale, Alberto Finzi, Dongheui Lee and Matteo Saveriano, Integrated Task Learning and Kinesthetic Teaching for Human-Robot Cooperation, Italian Workshop on Artificial Intelligence and Robotics (AIRO), 2016
  62. Dharmil Shah, Pietro Falco, Matteo Saveriano and Dongheui Lee, Encoding Human Actions with a Frequency Domain Approach, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5304-5311, 2016 
  63. Dongheui Lee, Incremental Robot Skill Learning by Human Motion Retargetting and Physical Human Guidance, the 12th international conference on ubiquitous robots and ambient intelligence (URAI), pp. 585-586, 2015 
  64. Affan Pervez and Dongheui Lee, A Component-wise Simulated Annealing EM Algorithm for Mixtures,  In: Goebel, Tanaka, Wahlster (Ed), KI 2015: Advances in Artificial Intelligence, 38th German Conference on Artificial Intelligence (KI), Lecture Notes in Artificial Intelligence, Springer, pp. 287-294, 2015. DOI 978-3-319-24489-1_25
  65. Shile Li, Seongyong Koo and Dongheui Lee, Real-time and Model-free Object Tracking using Particle Filter with Joint Color-Spatial Descriptor, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6079-6085, 2015
  66. Alexander Werner, Dietrich Trautmann, Dongheui Lee and Roberto Lampariello, Generalization of Optimal Motion Trajectories for Bipedal Walking, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1571-1577, 2015
  67. Vasiliki Koropouli, Azwirman Gusrialdi and Dongheui Lee ,An adaptive dynamic inversion-extremum seeking control approach for constrained robotic motion tasks, European Control Conference (ECC), 2015
  68. Sangik An and Dongheui Lee, Prioritized Inverse Kinematics with Multiple Task Definitions, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 1423-1430, 2015
  69. Matteo Saveriano, Sangik An and Dongheui Lee, Incremental Kinesthetic Teaching of End-Effector and Null-Space Motion Primitives, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 3570-3575, 2015
  70. Kai Hu, Christian Ott, and Dongheui Lee, Online Iterative Learning Control of Zero-Moment Point for Biped Walking Stabilization, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 5127-5133, 2015
  71. Raffaele Soloperto, Matteo Saveriano and Dongheui Lee, A Bidirectional Invariant Representation of Motion for Gesture Recognition and Reproduction, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 6146-6152, 2015
  72. Matteo Saveriano and Dongheui Lee, Learning Motion and Impedance Behaviors from Human Demonstrations, the 11th international conference on ubiquitous robots and ambient intelligence (URAI), 2014
  73. Matteo Saveriano and Dongheui Lee, Safe Motion Generation and Online Reshaping using Dynamical Systems, the 11th international conference on ubiquitous robots and ambient intelligence (URAI), 2014 (video submission).  Best Poster/Video Presentation Award
  74. Seongyong Koo, Dongheui Lee, and Dong-Soo Kwon, “Unsupervised object individuation from RGB-D image sequences”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4450-4457, 2014.
  75. Vasiliki Koropouli, Azwirman Gusrialdi and Dongheui Lee, ESC-MRAC of MIMO Systems for Constrained Robotic Motion Tasks in Deformable Environments, European Control Conference (ECC), pp. 2109-2114, 2014 
  76. Vito Magnanimo, Matteo Saveriano, Silvia Rossi and Dongheui Lee, A Bayesian Approach for Task Recognition and Future Human Activity Prediction, Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , pp. 726-731, 2014 , Nomination for the Kazuo Tanie Award
  77. Sven Parusel, Hannes Widmoser, Saskia Golz, Tobias Ende, Nico Blodow, Matteo Saveriano, Alexis Maldonado, Ingo Kresse, Roman Weitschat, Dongheui Lee, Michael Beetz, Alin Albu-Sch¨affer, and Sami Haddadin, Human-Robot Interaction Planning, the 28th AAAI Conference on Artificial Intelligence (AAAI), 2014. Nomination for Best Robot Video Award
  78. Jie Liu, Matteo Saveriano and Dongheui Lee, Robot Compliant Behavior through Reinforcement Learning, 7th International Workshop on Human-Friendly Robotics, 2014
  79. S. An, Dongheui Lee , Prioritized Inverse Kinematics using QR and Cholesky Decompositions , IEEE International Conference on Robotics and Automation (ICRA) , pp. 5062-5069, 2014 .
  80. Matteo Saveriano and Dongheui Lee , Distance based Dynamical System Modulation for Reactive Avoidance of Moving Obstacles , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , pp. 5618-5623, 2014 .
  81. Kai Hu, C. Ott, Dongheui Lee , Online Human Walking Imitation in Task and Joint Space based on Quadratic Programming , IEEE Int. Conf. on Robotics and Automation (ICRA) , pp. 3458-3464, 2014 .
  82. S. Koo, Dongheui Lee, D. Kwon , GMM-based 3D Object Representation and Robust Tracking in Unconstructed Dynamic Environments , IEEE International Conference on Robotics and Automation (ICRA) , 2013 , p. 1106-1113 .
  83. W. Wang, V. Koropouli, Dongheui Lee, K. Kühnlenz , Articulated Object Modeling Based on Visual and Haptic Observations , 2013 International Conference on Computer Vision Theory and Applications , 2013 , p. 253-259 . 
  84. Matteo Saveriano, Dongheui Lee , Invariant Representation for User Independent Motion Recognition , Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2013 , p. 650-655 . 
  85. Matteo Saveriano, Dongheui Lee , Invariant Representation of Motion for Gesture Recognition in Daily Life Scenarios , 6th International Workshop on Human-Friendly Robotics , 2013 . 
  86. Seongyong Koo, Dongheui Lee and Dong-Soo Kwon , Multiple Object Tracking Using an RGB-D Camera by Hierarchical Spatiotemporal Data Association , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2013 , p. 1113-1118 .
  87. Christian Ott, Bernd Henze, and Dongheui Lee , Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2013 , p. 4615-4621 .
  88. Matteo Saveriano, Dongheui Lee , Point Cloud based Dynamical System Modulation for Reactive Avoidance of Convex and Concave Obstacles , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2013 , p. 5380-5387 . 
  89. Matteo Saveriano, Dongheui Lee , Distance based Dynamical System Modulation for Reactive Collision Avoidance , DGR-Tage (DGR-days) , 2013 . 
  90. Kai Hu, Christian Ott and Dongheui Lee , Human Walking Imitation based on Quadratic Programming , 3rd German Robotics Society Days (DGR-Tage) , 2013 .
  91. J.R. Medina Hernández, Dongheui Lee, S. Hirche , Risk-Sensitive Optimal Feedback Control for Haptic Assistance , IEEE International Conference on Robotics and Automation (ICRA) , 2012 . 
  92. M. Lawitzky, J.R. Medina Hernández, Dongheui Lee, S. Hirche , Feedback Motion Planning and Learning from Demonstration in Physical Robotic Assistance: Differences and Synergies , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 . 
  93. J.R. Medina Hernández, T. Lorenz, Dongheui Lee, S. Hirche , Disagreement-Aware Physical Assistance Through Risk-Sensitive Optimal Feedback Control , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 . 
  94. J.R. Medina Hernández, M. Shelley, Dongheui Lee, W. Takano, S. Hirche , Towards Interactive Physical Robotic Assistance: Parameterizing Motion Primitives Through Natural Language , 21st IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2012 .
  95. T. Nierhoff, L. Lou, V. Koropouli, M. Eggers, T. Fritzsch, O. Kourakos, K. Kühnlenz, Dongheui Lee, B. Radig, M. Buss, S. Hirche , Tire Mounting on a Car Using the Real-Time Control Architecture ARCADE , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , p. 4804-4805 .
  96. Kai Hu, Dongheui Lee , Bipedal Locomotion Primitive Learning, Control and Prediction from Human Data , 10th International Symposium on Robot Control (SYROCO) , 2012 .
  97. V. Koropouli, S. Hirche, Dongheui Lee , Learning and generalizing force control policies for sculpting, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 . 
  98. Licong Zhang, Juergen Sturm, Daniel Cremers, Dongheui Lee , Real-time Human Motion Tracking using Multiple Depth Cameras , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , p. 2389-2395 .
  99. Z. Liu, Dongheui Lee, W. Sepp , Particle Filter Based Monocular Human Tracking with a 3D Cardbox Model and a Novel Deterministic Resampling Strategy , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 3626-3631 . 
  100. J.R. Medina Hernández, M. Lawitzky, A. Mörtl, Dongheui Lee, S. Hirche , An Experience-Driven Robotic Assistant Acquiring Human Knowledge to Improve Haptic Cooperation , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 . 
  101. V. Koropouli, Dongheui Lee, and S. Hirche , Learning interaction control policies by demonstration , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 344-349 .
  102. A. M. Schmidts, Dongheui Lee, and A. Peer , Imitation Learning of Human Grasping Skills from Motion and Force Data , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 1002- 1007 . 
  103. Dongheui Lee, Christian Ott, Yoshihiko Nakamura and Gerd Hirzinger , Physical Human Robot Interation in Imitation Learning , International Conference on Robotics and Automation (ICRA) , 2011, (video submission) .
  104. Christian Ott, Ch. Baumgartner, J. Mayr, M. Fuchs, R. Burger, Dongheui Lee, O. Eiberger, Alin Albu-Schaffer, M. Grebenstein, and G. Hirzinger , Development of a Biped Robot with Torque Controlled Joints , IEEE International Conference on Humanoid Robots , 2010 , p. 167-173 .
  105. Dongheui Lee and Christian Ott , Incremental Motion Primitive Learning by Physical Coaching Using Impedance Control , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2010 , p. 4133-4140 . 
  106. Dongheui Lee and Christian Ott , Iterative Motion Primitive Learning and Refinement by Complaint Motion Control , IEEE International Conference on Humanoid Robots (HUMANOIDS) workshop Humanoid Robots Learning from Human Interaction , 2010 .
  107. Hirotoshi Kunori, Dongheui Lee and Yoshihiko Nakamura , Associating and Reshaping of Whole Body Motions for Object Manipulation , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2009 , p. 5240-5247 . 
  108. Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Mimetic Communication with Impedance Control for Physical Human-Robot Interaction , IEEE International Conference on Robotics and Automation (ICRA) , 2009 , p. 1535-1542 , Finalist for the KUKA Service Robotics Best Paper Award
  109. Dana Kulic, Dongheui Lee and Yoshihiko Nakamura , Whole Body Motion Primitive Segmentation from Monocular Video , IEEE International Conference on Robotics and Automation (ICRA) , 2009 , p. 3166-3172 . 
  110. Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Mimetic Communication for Physical Human-Robot Interaction - Part II: Interaction Learning , the 14th Robotics Symposia , 2009 , p. 386-392 , (in Japanese) .
  111. Christian Ott, Dongheui Lee and Yoshihiko Nakamura , Mimetic Communication for Physical Human-Robot Interaction - Part I: Control , the 14th Robotics Symposia , 2009 , p. 132-139 , (in Japanese) .
  112. Hirotoshi Kunori, Dongheui Lee and Yoshihiko Nakamura , Association of Humanoid Whole Body Motion with Knowledge of Tools , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2008 , p. 2A1-E22 , (in Japanese) .
  113. Dongheui Lee, Dana Kulic and Yoshihiko Nakamura , Whole Motion Recovery from Partial Observation Data using Factorial Hidden Markov Models , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2008 , p. 1P1-G20 , (in Japanese) .
  114. Dana Kulic, Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Control System Study at IRT Research Initiative of University of Tokyo - Incremental Learning of Whole Body Motion Primitives of Humans , the 26th Annual Conference of the Robotics Society of Japan (RSJ) , 2008 , p. 3F3-02 , (in Japanese) .
  115. Dongheui Lee, Dana Kulic and Yoshihiko Nakamura , Missing Motion Data Recovery using Factorial Hidden Markov Models , IEEE International Conference on Robotics and Automation (ICRA) , 2008 , p. 1722-1728 . 
  116. Dongheui Lee, Hirotoshi Kunori and Yoshihiko Nakamura , Association of Whole Body Motion from Tool Knowledge for Humanoid Robots , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2008 , p. 2867-2874 . 
  117. Dana Kulic, Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Incremental Learning of Full Body Motion Primitives for Humanoid Robots , IEEE International Conference on Humanoid Robots , 2008 , p. 326-332 . 
  118. Christian Ott, Dongheui Lee and Yoshihiko Nakamura , Motion Capture based Human Motion Recognition and Imitation by Direct Marker Control , IEEE International Conference on Humanoid Robots , 2008 , p. 399-405 . 
  119. Dongheui Lee and Yoshihiko Nakamura , Human Motion Understanding from 2D Partial Observation of Vector Field based on Particle Filter , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2007 , p. 1A2-M07 , (in Japanese) .
  120. Dongheui Lee and Yoshihiko Nakamura , Stochastic Theory for Motion Capturing from Onboard Monocular Vision of Humanoid Robots , the 12th Robotics Symposia , 2007 , p. 424-429 .
  121. Dongheui Lee and Yoshihiko Nakamura , Mimesis Scheme using a Monocular Vision System on a Humanoid , 2007 IEEE International Conference on Robotics and Automation (ICRA'07) , 2007 , p. 2162-2168 . 
  122. Dongheui Lee and Yoshihiko Nakamura , Motion Capturing from Monocular Vision by Statistical Inference Based on Motion Database: Vector Field Approach , 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07) , 2007 , p. 617-623 . 
  123. Dongheui Lee and Yoshihiko Nakamura , Probabilistic Mimesis Model: Recognition and Generation from Partial Observations , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2006 , p. 1P1-E11 , (in Japanese) .
  124. Dongheui Lee and Yoshihiko Nakamura , Relaxed Viterbi Training: Fast and Reliable Symbol Acquisition of Mimesis Model , the 24th Annual Conference of the Robotics Society of Japan (RSJ) , 2006 , p. 2D22 .
  125. Dongheui Lee and Yoshihiko Nakamura , Motion Recognition with a Monocular Vision System Based on Mimesis Scheme , the 24th Annual Conference of the Robotics Society of Japan (RSJ) , 2006 , p. 1M23 , (in Japanese) .
  126. Dongheui Lee and Yoshihiko Nakamura , Stochastic Model of Imitating a New Observed Motion Based on the Acquired Motion Primitives , 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'06) , 2006 , p. 4994-5000 . 
  127. Dongheui Lee and Yoshihiko Nakamura , Probabilistic Model of Whole-body Motion Imitation from Partial Observations , The 12th International Conference on Advanced Robotics (ICAR'05) , 2005 , p. 337-343 . Academic Research Activities Supporting Grant Award
  128. Dongheui Lee and Woojin Chung , Dependable Localization Strategy in Dynamic Real Environments , 2005 IEEE/RSJ International Conference on Intelligent Robots And Systems (IROS'05) , 2005 , p. 860-865 . 
  129. Dongheui Lee and Yoshihiko Nakamura , Mimesis from Partial Observations , 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'05) , 2005 , p. 1911-1916 . 
  130. Dongheui Lee, Woojin Chung, and Munsang Kim , Integrated Localizaton of the Service Robot PSR, 2004 IEEE International Conference on Robotics & Automation (ICRA'04) , 2004 , p. 4017-4022 . 
  131. Dongheui Lee, Woojin Chung, and Munsang Kim , A Reliable Position Estimation method of the Service Robot by Map Matching , 2003 IEEE International Conference on Robotics & Automation (ICRA'03) , 2003 , p. 2830-2835 . 
  132. Dongheui Lee, Woojin Chung, and Munsang Kim , Autonomous Map Building and Smart Localization of the Service Robot PSR , 2003 IEEE/RSJ International Conference on Intelligent Robots And Systems (IROS'03) , 2003 , p. 454-459, . 
  133. Dongheui Lee, Woojin Chung, and Munsang Kim , Experimental Research of the Map Building and Localization at Human Co-existing Real Environments , International Conference on Control, Automation and Systems (ICCAS) , 2003 , p. 1184-1189 .
  134. Dongheui Lee, Woojin Chung, and Munsang Kim , Probabilistic Localization of the Service Robot by Map Matching Algorithm , International Conference on Control, Automation and Systems (ICCAS) , 2002 , p. 1667-1627 .
  135. Woojin Chung, Dongheui Lee, Changjoo Lee, Gunhee Kim, Hyungjin Lee, Kihwan Kim, Munsang Kim, and Chongwon Lee , Development of The Public Service Robot PSR-1 , Proc. of 2001 Service Robot Workshop , 2001 , p. 14-19 .

Peer-reviewed Videos

  1. Karna Potwar, Leif Johannsen, Matteo Saveriano, Martin Langer, and Dongheui Lee, Light touch postural guidance through a robotic system, AsiaHaptics, 2018
  2. Sven Parusel, Hannes Widmoser, Saskia Golz, Tobias Ende, Nico Blodow, Matteo Saveriano, Alexis Maldonado, Ingo Kresse, Roman Weitschat, Dongheui Lee, Michael Beetz, Alin Albu-Sch¨affer, and Sami Haddadin, Human-Robot Interaction Planning, the 28th AAAI Conference on Artificial Intelligence (AAAI), 2014. Nomination for Best Robot Video Award
  3. Matteo Saveriano and Dongheui Lee, Safe Motion Generation and Online Reshaping using Dynamical Systems, the 11th international conference on ubiquitous robots and ambient intelligence (URAI), pp. 45, 2014. Best Poster/Video Presentation Award.
  4. Thomas Nierhoff, Lei Lou, Vasiliki Koropouli, Marin Eggers, Timo Fritzsch, Omiros Kourakos, Kolja Kuehnlenz, Dongheui Lee, Bernd Radig, Martin Buss and Sandra Hirche, Tire Mounting on a Car Using the Real-Time Control Architecture ARCADE, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4804-4805, 2012
  5. Dongheui Lee, Christian Ott, Yoshihiko Nakamura and Gerd Hirzinger, Physical Human Robot Interaction in Imitation Learning, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp 3439-3440, 2011

Posters

  1. Katrin H. Schulleri, Dongheui Lee, and Leif Johannsen, Balance stabilizing benefit of interpersonal light touch: the influence of an individual’s anthropometry and person characteristics relative to the partner’s, ISPGR (international society of posture and gait research) world congress, 2023
  2. Kai Hu and Dongheui Lee, Online Human Motion Imitation by Humanoid Robots, Workshop on Interpersonal Postural Interactions, Birmingham, UK, 2015
  3. Dongheui Lee and Leif Johannsen, Research Activities in ROLITOS: Robotic light touch support during locomotion in balance impaired humans, Workshop on Interpersonal Postural Interactions, Birmingham, UK, 2015
  4. M. Lawitzky, A. Mörtl, J.R. Medina Hernández, Dongheui Lee, S. Hirche , Enhancing Physical Human-Robot Cooperation Through Behavior Anticipation and Interactive Planning , Proc. 5th International Conference on Cognitive Systems (CogSys) , 2012 . 
  5. A. Mörtl, M. Lawitzky, J.R. Medina Hernandez, Dongheui Lee, S. Hirche , Design Concepts for Physical Human-Robot Cooperation , IROS Workshop on Learning and Interaction in Haptic Robots, 2012 . 

Theses

  1. Statistical Mimesis from Partial Observation and its Application to Humanoid Robots, 2007 , PhD dissertation, The University of Tokyo.
  2. Range Sensor Based Localization of the Mobile Service Robot in Office Environments , 2003 , MS dissertation, Kyung Hee University.