Introduction

A photo of Prof. Dongheui Lee.

© Dongheui Lee

Prof. Dongheui Lee

Dongheui Lee (이동희) is a 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 to her appointment at TU Wien, 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, and a research scientist at the Korea Institute of Science and Technology (KIST). She earned her PhD from University of Tokyo, Japan in 2007. She has received the Carl von Linde Fellowship (2011) and the Helmholtz professorship prize (2015). She has served as Editor-in-Chief of IEEE/RSJ International Conference on Humanoid Robots, Senior Editor and a founding member of IEEE Robotics and Automation Letters (RA-L),  Associate Editor for the IEEE Transactions on Robotics, and an elected IEEE RAS AdCom member. Her research interests include robot learning, human robot interaction, human motion understanding, and collaborative 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
    • IROS 2025, ICRA 2025, ICRA@40, 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 participated panel/debates at following conferences
    • ICRA 2026, ICRA@40, Humanoids 2024, etc
  • I help with
    • AdCom member, IEEE RAS
    • Editor-in-Chief, IEEE/RSJ International Conference on Humanoid Robots (HUMANOIDS), 2026 -
    • 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 - 2026
    • Founding member and Senior Editor of RA-L, 2015-2020
    • Program Chair of Humanoids 2023, RO-MAN 2020, etc
    • General Chair of ARSO 2026
    • Organizing Committee of ICRA 2027, RSS 2023, Humanoids 2020, IROS 2016, ARSO 2012, etc
    • Award Co-Chair & Committee of ICRA 2026, IROS 2025, RSS 2025, Humanoids 2024, RSS 2024, ICRA 2021, ICRA 2020, IROS 2020, IEEE RAS Section Chapter, etc
    • Editor, ICRA 2013-2015, Ro-Man 2020, Humanoids 2020-2025, etc
    • Guest Editor of RA-M, Autonomous Robots, etc
    • Panel member for European Research Council (ERC) Synergy Grant, 2023, 2025

Projects

  • NRF-Humanoid - Embodiment-Agnostic Intelligence and Knowledge Transfer System for Autonomous Complex Task Execution in Heterogeneous Humanoids, National Research Foundation of Korea (NRF), RS-2026-25547694, 1.4.2026-31.12.2027
  • SafeDiffusion - Diffusion-Based Robot Control Policy with Safety Awareness and Generalization, WWTF, ICT25-068, 1.1.2026 - 31.12.2028
  • LunarAssembly - Large Time-Delay Teleoperation for Enabling Robotic Assembly on the Moon through Extended Reality and Machine Learning, FNR/FWF, PIN5145724, 1.5.2025 - 30.4.2028
  • MOTIE - Development of the AI-based autonomous task planning and robot teaching solution for highly complex manufacturing assembly process, MOTIE, RS-2024-00416440, 1.4.2024-31.12.2027
  • 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

Google Scholar  

Git-Hub page for project webpages and Codes of recent publications

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. Johannes Heidersberger, Shail Jadav, and Dongheui Lee, LOPAL: Local Performance-Aware Active Learning from Imperfect Demonstrations, IEEE Robotics and Automation Letters (RA-L), 2026. DOI: 10.1109/LRA.2026.3698364  Paper  arXiv
  2. Aude Billard, Renaud Detry, Nadia Figueroa, Maximilian Foriest, Dongheui Lee, and Kunpeng Yao, Surviving the Paper Deluge: A One-Year Study in Learning from Demonstration [Science and Technology Watch], IEEE Robotics and Automation Magazine (RAM), 2026. DOI: 10.1109/MRA.2026.3682522
  3. Yashuai Yan, Tobias Egle, Christian Ott and Dongheui Lee, Efficiently Learning Robust Torque-based Locomotion Through Reinforcement with Model-Based Supervision, IEEE Robotics and Automation Letters (RA-L), Special Issue: Advancements in MPC and Learning Algorithms for Legged Robots, 2026. DOI: 10.1109/LRA.2026.3664534  Paper
  4. Yashuai Yan and Dongheui Lee, Cross-Embodiment Imitation: Learning a Unified Latent Space for Multirobot Control, IEEE Robotics and Automation Magazine (RAM), Special Issue: Embodied AI, 2026.  DOI: 10.1109/MRA.2026.3651673 Paper
  5. Esteve Valls Mascaro and Dongheui Lee, Robot Behavior Generation for Social Human-Robot Interaction, International Journal of Social Robotics, 2025. DOI: 10.1007/s12369-025-01333-3 Paper
  6. Johannes Heidersberger, Jakob Kaiser, Shail Jadav, Lucija Mihic Zidar, Arianna Curioni, Leif Johannsen, Dongheui Lee, Partner Familiarity Enhances Performance in a Manual Precision Task, Scientific Reports, Nature, 15, 23381, 2025. DOI: 10.1038/s41598-025-03341-9 Paper
  7. Katrin Schulleri, Dongheui Lee, Leif Johannsen, The balance stabilising benefit of social touch: influence of an individuals age and the partners relative body characteristics, PLOS ONE, 2025. DOI: 10.1371/journal.pone.0314946   Webpage
  8. Christoph Willibald and Dongheui Lee, Hierarchical Task Decomposition for Execution Monitoring and Error Recovery: Understanding the Rationale Behind Task Demonstrations. The International Journal of Robotics Research (IJRR), 2025. DOI: 10.1177/02783649251352112  ArXiV Paper | Paper
  9. Sang-ik An, Dongheui Lee, and Gyunghoon Park, Ultimate Boundedness and Output Convergence of Prioritized Output Tracking Control Under Nonsmooth and Imperfect Feedback Linearization, IEEE Transactions on Automatic Control, Vol. 70, No. 8, pp. 5515-5522,  2025. DOI: 10.1109/TAC.2025.3547538
  10. Yashuai Yan, Esteve Valls Mascaro, Tobias Egle, and Dongheui Lee, I-CTRL: Imitation to Control Humanoid Robots Through Bounded Residual Reinforcement Learning, IEEE Robotics & Automation Magazine (RAM), pp. 59-67, 2025. DOI: 10.1109/MRA.2025.3527284 Project page | ArXiV Paper | Paper
  11. Daniel Sliwowski, Dongheui Lee, ConditionNET: Learning Preconditions and Effects for Execution Monitoring, IEEE Robotics and Automation Letters (RA-L), 2024. DOI: 10.1109/LRA.2024.3520916 Project page | ArXiV Paper | Paper
  12. Katrin Schulleri, Farbod Feizian, Martina Steinboeck, Dongheui Lee, Leif Johannsen, Does vibrotactile biofeedback for postural control interfere with cognitive processes?, Journal of NeuroEngineering and Rehabilitation, 2024. Webpage
  13. 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 
    2024 RA-L Paper Award: Honorable Mention Winner
  14. 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. 6265 - 6276, 2023. DOI: 10.1109/TASE.2023.3324141  Paper
  15. 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
  16. 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
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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.
  22. 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
  23. 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
  24. 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
  25. Thomas Eiband, Christoph Willibald, Isabel Tannert, Bernhard Weber, and Dongheui Lee, Collaborative Programming of Robotic Task Decisions and Recovery Behaviors. Autonomous Robots (AURO), 2022,
  26. 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
  27. 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
  28. 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.
  29. Youssef Michel, Christian Ott and Dongheui Lee, Safety-Aware Hierarchical Passivity-Based Variable Impedance Control For Redundant Manipulators, IEEE Transactions on Robotics (T-RO), pp. 3899-3916, 2022. DOI:10.1109/TRO.2022.3174478    Paper
  30. 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
  31. 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
  32. 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
  33. 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
  34. 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
  35. 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
  36. 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
  37. 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
  38. 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
  39. 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
  40. Sang-ik An, and Dongheui Lee, Prioritized Inverse Kinematics: Generalization, IEEE Robotics and Automation Letters (RA-L), 2019, DOI: 10.1109/LRA.2019.2927945
  41. 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
  42. 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
  43. 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
  44. 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
  45. 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
  46. 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)
  47. 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
  48. 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
  49. 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
  50. 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
  51. 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)
  52. 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
  53. Matteo Saveriano, Fabian Hirt and Dongheui Lee, Humane-aware motion planning using dynamical systems, Pattern Recognition Letters, 99, 96-104, 2017
  54. 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)
  55. 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
  56. 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
  57. 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)
  58. 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
  59. Dongheui Lee and Yoshihiko Nakamura , Motion Recognition and Recovery from Occluded Monocular Observations , Robotics and Autonomous Systems , 62(6), 818-832, (2014).
  60. 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).
  61. 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 .
  62. 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 .
  63. Dongheui Lee and Christian Ott , Incremental Kinesthetic Teaching of Motion Primitives Using the Motion Refinement Tube , Autonomous Robots , 31 (2011) , no. 2 , 115-131 .
  64. 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 .
  65. 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 .
  66. Dongheui Lee and Woojin Chung , Discrete Status based Localization for Indoor Service Robots , IEEE Transactions on Industrial Electronics , 53 (2006) , no. 5 , 1737-1746 .
  67. 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) .
  68. 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. Victor Kowalski, Chengxi Li, and Dongheui Lee, VE2VF: Vision-Enabled to Vision-Free Distillation via Real-world Reinforcement Learning for Robust Contact-Rich Manipulation , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.- , 2026. (accepted)
  2. Yexin Hu, Haoyi Zheng, Johannes Heidersberger, and Dongheui Lee, Learning Forward and Reverse Skills from a Single Unfinished Demonstration for Constrained Manipulation Tasks, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.- , 2026. Project page | ArXiV 
  3. Shail Jadav and Dongheui Lee, Monocular Vision Based Control Framework for Grasping, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp.- , 2026. Project page | ArXiV
  4. Daniel Sliwowski and Dongheui Lee, MulitModal Robotic Representation for Temporal Action Segmentation, IEEE International Conference on Robotics and Automation (ICRA), pp. - , 2026. (accepted)
  5. Sergej Stanovcic, Daniel Sliwowski and Dongheui Lee, ATLAS: An Annotation Tool for Long-horizon Robotic Action Segmentation, IEEE Conference on Advanced Robotics and its Social Impact (ARSO), pp.95-101 , 2026. doi: 10.1109/ARSO68304.2026.11536125
  6. Dongmyoung Lee, Chengxi Li and Dongheui Lee, DexTwist: Dexterous Hand Retargeting for Twist Motion via Mixed Reality-Based Teleoperation, IEEE Conference on Advanced Robotics and its Social Impact (ARSO), pp.149-154 , 2026. doi: 10.1109/ARSO68304.2026.11536116
  7. Daniel Sliwowski, Seong-Su Park, Kwang-Hyun Lee, Donghyeon Kim, Jee-Hwan Ryu, and Dongheui Lee, Constraint-Informed Temporal Action Segmentation, International Conference on Control, Automation and Systems (ICCAS), pp. 647-652, 2025 Paper
  8. Christoph Willibald, Daniel Sliwowski, and Dongheui Lee, Multimodal Anomaly Detection with a Mixture-of-Experts, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 20020 - 20027, 2025. DOI: 10.1109/IROS60139.2025.11245878 ArXiV Paper | Paper
  9. Yashuai Yan, Chengxi Li, and Dongheui Lee, Personalized Motion Retargeting through Bidirectional human-robot Imitation, IEEE International Conference on Development and Learning (ICDL), pp. 1-6, 2025. DOI: 10.1109/ICDL63968.2025.11204350  Paper
  10. Josua Spisak, Jan Benad, Johannes Heidersberger, Stephan Verschoor, Pablo Lanillos, Dongheui Lee, Manfred Eppe, Stefan Wermter, Matej Hoffmann, and Sergiu Tcaci Popescu, Computational models of the emergence of self-exploration in 2-month-old infants, IEEE International Conference on Development and Learning (ICDL), pp. -, 2025.
  11. Daniel Sliwowski, Shail Jadav, Sergej Stanovcic, Jedrzej Orbik, Johannes Heidersberger, Dongheui Lee, Demonstrating REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly, Robotics: Science and Systems (RSS), pp. -, 2025 Project page | ArXiV Paper
  12. Dario Spoljaric, Yashuai Yan, and Dongheui Lee, Variable Stiffness for Robust Locomotion through Reinforcement Learning, IFAC Symposium on on Robotics, pp. - , 2025
  13. Yashuai Yan and Dongheui Lee, Learning dexterous robot hand control by imitating human hands, international conference on ubiquitous robots (UR),    pp. 307-312, USA, June 30 - July 3, 2025. DOI: 10.1109/UR65550.2025.11078061
  14. Zoltan Varga, Esteve Valls Mascaro, Daniel Sliwowski, and Dongheui Lee, Multimodal Transformer Models for Human Action Classification, International Conference on Robot Intelligence Technology and Applications (RiTA), pp 52–63, Lecture Notes in Networks and Systems, vol 1419, Springer 2024.  DOI: 10.1007/978-3-031-92011-0_5   Paper
    Best Intelligence Paper Award.
  15. Lorenzo Ferrini, Jozsef Palmieri, Alessandro Marino, Dongheui Lee, and Severin Lemaignan, reMap: Spatially-grounded and Queryable Semantics for Interactive Robots, International Conference on Social Robotics (ICSR), 2024
  16. Esteve Valls Mascaro and Dongheui Lee, Know your limits! Optimize the robot’s behavior through self-awareness, IEEE International Conference on Humanoid Robots (HUMANOIDS), pp. 250-257, 2024 Project page | ArXiV Paper
  17. Tobias Egle, Yashuai Yan, Dongheui Lee, and Christian Ott, Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region, IEEE International Conference on Humanoid Robots (HUMANOIDS), pp. 165-172, 2024
  18. 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
  19. 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
  20. 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