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Roberto Martín-Martín

Lupe [1]

Email: roberto.martinmartin(at)tu-berlin.de

Room: MAR 5.065
Telephone: +49.30.314-73118
Office Hours: on request

Research

In a (near) future I would like to see robots assisting and working autonomously in human environments. However, these environments are highly unpredictable and dynamic. My research interest is to provide robots with the necessary perceptual skills to understand and successfully manipulate these unstructured environments. I believe that the key to a successful understanding of the environment should include three factors: interaction with the world, continuous probabilistic (bayesian) estimation and learning and multimodal perception. By correctly combining these factors the robot can crack the complexity and variety of human environments.

My recent work applies these ideas to the robust perception of degrees of freedom in unstructured environments from interactions. This knowledge is crucial for robots interacting in our homes. Doors, drawers, or scissors are some examples of articulated objects with degrees of freedom that the robot would need to perceive and understand in order to successfully and purposely manipulate them.

Research interests: 

  • Active and Interactive Perception
  • Sensorimotor Contingencies
  • Bayesian State Estimation and Bayesian Exploration
  • Multimodal Perception and Control
  • Machine Learning

Google scholar [2]

Vita

  • June 2011 - present : PhD Student
    Robotics and Computational Biology Lab
    Institut für Technische Informatik und Mikroelektronik
    Technische Universität Berlin
  • November 2009 - February 2011: Student Research Assistant
    Robotics Department
    Institut für Produktionsanlagen und Konstruktionstechnik (IPK) [3]
    Fraunhofer Institut [4]
  • Oktober 2009 - Oktober 2010: M.Sc. in Electrical Engineering
    Focus: Automation Technics und Microelectronics
    Institut of Technische Informatik und Mikroelektronik
    Technische Universität Berlin
  • September 2002 - September 2008: Telecommunications Engineering
    Telecommunications Engineering School [5]
    Technical University of Madrid [6]

Nominations and Awards

  • IROS'16 Best Paper Award Finalist: " Probabilistic Multi-Class Segmentation for the Amazon Picking Challenge [7]"
  • RSS'16 Winner of Best Systems Paper Award "Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems (PDF, 3,9 MB) [8]"
  • ICRA'15 Winner of 1st Amazon Picking Challenge (Team RBO)
  • IROS'14 Best Paper Award Finalist: " Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors [9]"
  • IROS'14 Best Student Paper Award Finalist: " Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors [10]"
  • IROS'14 CoTeSys Cognitive Robotics Best Paper Award Finalist: " Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors [11]"
  • IROS'14 IEEE Travel Grant

Organized Events

RSS'16 Workshop on Robot-Environment Interaction for Perception and Manipulation: Interactive Perception Meets Reinforcement Learning and Optimal Control [12]

Publications

Roberto Martín-Martín and Oliver Brock. Cross-Modal Interpretation of Multi-Modal Sensor Streams in Interactive Perception Based on Coupled Recursion [16]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (in press), 2017.

Download Bibtex entry [17]

Roberto Martín-Martín and Oliver Brock. Building Kinematic and Dynamic Models of Articulated Objects with Multi-Modal Interactive Perception [18]. AAAI Symposium on Interactive Multi-Sensory Object Perception for Embodied Agents, 2017.

Download Bibtex entry [19]

Clemens Eppner and Roberto Martín-Martín and Oliver Brock. Physics-Based Selection of Actions That Maximize Motion for Interactive Perception. RSS workshop: Revisiting Contact - Turning a problem into a solution, 2017.

Download Bibtex entry [20]

Rico Jonschkowski and Clemens Eppner and Sebastian Höfer and Roberto Martín-Martín and Oliver Brock. Probabilistic Multi-Class Segmentation for the Amazon Picking Challenge [21]. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016.

Download Bibtex entry [22]

Roberto Martín-Martín and Arne Sieverling and Oliver Brock. Estimating the Relation of Perception and Action During Interaction [23]. International Workshop on Robotics in the 21st century: Challenges and Promises, 2016.

Download Bibtex entry [24]

Clemens Eppner and Sebastian Höfer and Rico Jonschkowski and Roberto Martín-Martín and Arne Sieverling and Vincent Wall and Oliver Brock. Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems [25]. Proceedings of Robotics: Science and Systems, 2016.

Download Bibtex entry [26]

Roberto Martín-Martín and Sebastian Höfer and Oliver Brock. An Integrated Approach to Visual Perception of Articulated Objects [27]. Proceedings of the IEEE International Conference on Robotics and Automation, pp. 5091 - 5097, 2016.

Download Bibtex entry [28]

Roberto Martín-Martín and Oliver Brock. Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors [29]. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2494-2501, 2014.

Download Bibtex entry [30]

Roberto Martín-Martín and Oliver Brock. Deterioration of Depth Measurements due to Interference of Multiple RGB-D Sensors [31]. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4205-4212, 2014.

Download Bibtex entry [32]

Dragoljub Surdilovic and Yelve Yakut and T-M. Nguyen and X. B. Pham and Axel Vick and Roberto Martín-Martín. Compliance Control with Dual-Arm Humanoid Robots: Design, Planning and Programming [33]. Proceedings of the International Conference on Humanoid Robots, pp. 275-281, 2010.

Download Bibtex entry [34]

Administration

Janika Urig
Tel. +49 30 314-73 110
Fax +49 30 314-21 116
Raum MAR 5.032

e-mail query [35]

Anschrift

TU Berlin
Fakultät IV
Sekretariat MAR 5-1
Marchstraße 23
10587 Berlin
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