/Oliver Kroemer

Oliver Kroemer

Portrait of Oliver Kroemer
Assistant Professor
Office: 4531 Newell-Simon Hall
Administrative Assistant: Carloz Gil
Lab: Intelligent Autonomous Manipulation Lab

Mailing Address

My research focuses on developing algorithms and representations to enable robots to learn versatile manipulation skills over time. The ability to learn skills and adapt manipulations to new situations will open up a wide range of new robot applications, including taking care of the elderly, maintaining parks and public places, and assisting in hazardous environments. I have developed methods for robots to learn about objects through physical interactions and improve their skills autonomously using reinforcement learning. I have also proposed representations for capturing various aspects of manipulations, e.g., contact states and motor primitives, to improve generalization between different scenarios and skills.  The ultimate goal of my research is to develop a life-long learning framework for robots to acquire manipulation skills.

Before joining the CMU Robotics Institute in 2018, I was a postdoctoral researcher at the University of Southern California (USC). I received my Masters and Bachelors degrees in engineering from the University of Cambridge in 2008.  From 2009 to 2011, I  was a Ph.D. student at the Max Planck Institute for Intelligent Systems. In 2014, I defended my Ph.D. thesis at the Technische Universitaet Darmstadt and was a finalist for the 2015 Georges Giralt Ph.D. Award for the best robotics Ph.D. thesis in Europe.

Displaying 57 Publications
Learning Robust Manipulation Strategies with Multimodal State Transition Models and Recovery Heuristics
Austin S. Wang and Oliver Kroemer

Conference Paper, International Conference on Robotics and Automation (ICRA), January, 2019
Learning Audio Feedback for Estimating Amount and Flow of Granular Material
Samuel Clarke, Travers Rhodes, Christopher Atkeson and Oliver Kroemer

Conference Paper, Conference on Robot Learning, Vol. 87, pp. 529-550, October, 2018
Learning Manipulation Graphs from Demonstrations Using Multimodal Sensory Signals
Zhe Su, Oliver Kroemer, Gerald E. Loeb, Gaurav S. Sukhatme and Stefan Schaal

Conference Paper, International Conference on Robotics and Automation (ICRA), January, 2018
Pilot Surveys for Adaptive Informative Sampling
Stephanie Kemna, Oliver Kroemer and Gaurav S. Sukhatme

Conference Paper, International Conference on Robotics and Automation (ICRA), January, 2018
A Comparison of Autoregressive Hidden Markov Models for Multi-Modal Manipulations with Variable Masses
Oliver Kroemer and Jan Peters

Journal Article, Robotics and Automation Letters (RAL), January, 2017
A Kernel-based Approach to Learning Contact Distributions for Robot Manipulation Tasks
Oliver Kroemer, Simon Leischnig, Stefan Luettgen and Jan Peters

Journal Article, Autonomous Robots (AuRo), January, 2017
Feature Selection for Learning Versatile Manipulation Skills based on Observed and Desired Trajectories
Oliver Kroemer and Gaurav S. Sukhatme

Conference Paper, International Conference on Robotics and Automation (ICRA), January, 2017
Probabilistic Movement Primitives for Coordination of Multiple Human-Robot Collaborative Tasks
Guilherme Maeda , Gerhard Neumann, Marco Ewerton, Rudolf Lioutikov, Oliver Kroemer and Jan Peters

Journal Article, Autonomous Robots (AuRo), January, 2017
Contact Localization on Grasped Objects using Tactile Sensing
Artem Molchanov, Oliver Kroemer, Zhe Su and Gaurav S. Sukhatme

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), January, 2016
Generalizing Regrasping with Supervised Policy Learning
Yevgen Chebotar, Karol Hausman, Oliver Kroemer, Gaurav S. Sukhatme and Stefan Schaal

Conference Paper, International Symposium on Experimental Robotics (ISER), January, 2016
Hierarchical Relative Entropy Policy Search
Christian Daniel, Gerhard Neumann, Oliver Kroemer and Jan Peters

Journal Article, Journal of Machine Learning Research (JMLR), January, 2016
Learning Spatial Preconditions of Manipulation Skills using Random Forests
Oliver Kroemer and Gaurav S. Sukhatme

Conference Paper, International Conference on Humanoid Robots (Humanoids), January, 2016
Learning to Switch between Sensorimotor Primitives using Multimodal Haptic Signals
Zhe Su, Oliver Kroemer, Gerald E. Loeb, Gaurav S. Sukhatme and Stefan Schaal

Conference Paper, International Conference on the Simulation of Adaptive Behavior (SAB), January, 2016
Meta-level Priors for Learning Manipulation Skills with Sparse Features
Oliver Kroemer and Gaurav Sukhatme

Conference Paper, International Symposium on Experimental Robotics (ISER), January, 2016
A Comparison of Contact Distribution Representations for Learning to Predict Object Interactions
Simon Leischnig, Stefan Luettgen, Oliver Kroemer and Jan Peters

Conference Paper, International Conference on Humanoid Robots (Humanoids), January, 2015
Active Reward Learning with a Novel Acquisition Function
Christian Daniel , Oliver Kroemer, Malte Viering, Jan Metz and Jan Peters

Journal Article, Autonomous Robots (AuRo), January, 2015
Machine Learning for Robot Grasping and Manipulation
Oliver Kroemer

PhD Thesis, Tech. Report, Technische Universität Darmstadt, January, 2015
Towards Learning Hierarchical Skills for Multi-Phase Manipulation Tasks
Oliver Kroemer, Christian Daniel, Gerhard Neumann, Herke van Hoof and Jan Peters

Conference Paper, International Conference on Robotics and Automation (ICRA), January, 2015
Learning Motor Skills – From Algorithms to Robot Experiments
Kober, J., Muelling, K., Kroemer, O., Lampert, C.H., Schoelkopf, B. and Peters, J.

Book Section/Chapter, Chapter: Movement Templates for Learning of Hitting and Batting, Springer Tracts in Advanced Robotics, Vol. 97, January, 2014
Active Reward Learning
Christian Daniel, Malte Viering, Jan Metz, Oliver Kroemer and Jan Peters

Conference Paper, Robotics: Science and Systems (RSS), January, 2014
Generalizing Pouring Actions Between Objects using Warped Parameters
Sascha Brandl, Oliver Kroemer and Jan Peters

Conference Paper, International Conference on Humanoid Robots (Humanoids), January, 2014
Interaction Primitives for Human-Robot Cooperation Tasks
Heni Ben Amor, Gerhard Neumann, Sanket Kamthe, Oliver Kroemer and Jan Peters

Conference Paper, International Conference on Robotics and Automation (ICRA), January, 2014
Learning Robot Tactile Sensing for Object Manipulation
Yevgen Chebotar, Oliver Kroemer and Jan Peters

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), January, 2014
Learning to Predict Phases of Manipulation Tasks as Hidden States
Oliver Kroemer, Herke van Hoof, Gerhard Neumann and Jan Peters

Conference Paper, International Conference on Robotics and Automation (ICRA), January, 2014
Predicting Object Interactions from Contact Distributions
Oliver Kroemer and Jan Peters

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), January, 2014
Probabilistic Segmentation and Targeted Exploration of Objects in Cluttered Environments
Herke van Hoof, Oliver Kroemer and Jan Peters

Journal Article, Transactions on Robotics (T-RO), January, 2014
Towards Robot Skill Learning: From Simple Skills to Table Tennis
Peters, J., Kober, J., Muelling, K., Kroemer, O. and Neumann, G.

Conference Paper, Proceedings of the European Conference on Machine Learning (ECML), Nectar Track, September, 2013
Learning to Select and Generalize Striking Movements in Robot Table Tennis
Muelling, K., Kober, J., Kroemer, O. and Peters, J.

Journal Article, International Journal of Robotics Research (IJRR), Vol. 32, No. 3, pp. 263 - 279, March, 2013
Learning Manipulation by Sequencing Motor Primitives with a Two-Armed Robot
Rudolf Lioutikov, Oliver Kroemer, Guilherme Maeda and Jan Peters

Conference Paper, International Conference on Intelligent Autonomous Systems (IAS), January, 2013
Learning Sequential Motor Tasks
Christian Daniel, Gerhard Neumann, Oliver Kroemer and Jan Peters

Conference Paper, International Conference on Robotics and Automation (ICRA), January, 2013
Probabilistic Interactive Segmentation for Anthropomorphic Robots in Cluttered Environments
Herke van Hoof, Oliver Kroemer and Jan Peters

Conference Paper, International Conference on Humanoid Robots (Humanoids), January, 2013
Learning to Select and Generalize Striking Movements in Robot Table Tennis
Muelling, K., Kober, J., Kroemer, O. and Peters, J.

Conference Paper, Proceedings of the AAAI Fall Symposium on Robots that Learn Interactively from Human Teachers, October, 2012
Robot Skill Learning
Peters, J., Kober, J., Muelling, K., Nguyen-Tuong, D. and Kroemer, O.

Conference Paper, Proceedings of the European Conference on Artificial Intelligence (ECAI), August, 2012
A Kernel-based Approach to Direct Action Perception
Oliver Kroemer, Emre Ugur, Erhan Oztop and Jan Peters

Conference Paper, International Conference on Robotics and Automation (ICRA), January, 2012
Algorithms for Learning Markov Field Policies
Abdeslam Boularias, Oliver Kroemer and Jan Peters

Conference Paper, Neural Information Processing Systems (NIPS), January, 2012
Generalization of Human Grasping for Multi-Fingered Robot Hands
Heni Ben Amor, Oliver Kroemer, Ulrich Hillenbrand, Gerhard Neumann and Jan Peters

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), January, 2012
Maximally Informative Interaction Learning for Scene Exploration
Herke van Hoof, Oliver Kroemer, Heni Ben Amor and Jan Peters

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), January, 2012
Point Cloud Completion Using Extrusions
Oliver Kroemer, Heni Ben Amor, Marco Ewerton and Jan Peters

Conference Paper, International Conference on Humanoid Robots (Humanoids), January, 2012
Structured Apprenticeship Learning
Abdeslam Boularias, Oliver Kroemer and Jan Peters

Conference Paper, European Conference on Machine Learning (ECML), January, 2012
A Flexible Hybrid Framework for Modeling Complex Manipulation Tasks
Oliver Kroemer and Jan Peters

Conference Paper, International Conference on Robotics and Automation (ICRA), January, 2011
A Non-Parametric Approach to Dynamic Programming
Oliver Kroemer and Jan Peters

Conference Paper, Neural Information Processing Systems (NIPS), January, 2011
Active Exploration for Robot Parameter Selection in Episodic Reinforcement Learning
Oliver Kroemer and Jan Peters

Conference Paper, Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL), January, 2011
Learning Dynamic Tactile Sensing with Robust Vision-based Training
Oliver Kroemer, Christoph H. Lampert and Jan Peters

Journal Article, Transactions on Robotics (T-RO), January, 2011
Learning Grasp Affordance Densities
Renaud Detry, Dirk Kraft, Oliver Kroemer, Leon Bodenhagen, Jan Peters, Norbert Kruger and Justus Piater

Journal Article, Paladyn, January, 2011
Learning Robot Grasping from 3-D Images with Markov Random Fields
Abdeslam Boularias, Oliver Kroemer and Jan Peters

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), January, 2011
Movement Templates for Learning of Hitting and Batting
Kober, J., Muelling, K., Kroemer, O., Lampert, C.H., Schoelkopf, B. and Peters, J.

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), April, 2010
Adapting Preshaped Grasping Movements using Vision Descriptors
Oliver Kroemer, Renaud Detry, Justus Piater and Jan Peters

Conference Paper, International Conference on the Simulation of Adaptive Behavior (SAB), January, 2010
Combining Active Learning and Reactive Control for Robot Grasping
Oliver Kroemer, Renaud Detry, Justus Piater and Jan Peters

Journal Article, Robotics and Autonomous Systems (RAS), January, 2010
Grasping with Vision Descriptors and Motor Primitives
Oliver Kroemer, Renaud Detry, Justus Piater and Jan Peters

Conference Paper, International Conference on Informatics in Control, Automation and Robotics (ICINCO), January, 2010
Learning Probabilistic Discriminative Models of Grasp Affordances under Limited Supervision
Ayse Naz Erkan, Oliver Kroemer, Renaud Detry, Yasemin Altun, Justus Piater and Jan Peters

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), January, 2010
Learning Visual Representations for Perception-Action Systems
Justus Piater, Sebastien Jodogne, Renaud Detry, Dirk Kraft, Norbert Kruger, Oliver Kroemer and Jan Peters

Journal Article, International Journal of Robotics Research (IJRR), January, 2010
Weakly-Paired Maximum Covariance Analysis for Multimodal Dimensionality Reduction and Transfer Learning
Christoph H. Lampert and Oliver Kroemer

Conference Paper, European Conference on Computer Vision (ECCV), January, 2010
Towards Motor Skill Learning for Robotics
Peters, J., Muelling, K., Kober, J., Nguyen-Tuong, D. and Kroemer, O.

Conference Paper, Proceedings of the International Symposium on Robotics Research (ISRR), Invited Paper., August, 2009
Active Learning using Mean Shift Optimization for Robot Grasping
Oliver Kroemer, Renaud Detry, Justus Piater and Jan Peters

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), January, 2009
Learning Object-specific Grasp Affordance Densities
Renaud Detry, Emre Baseski, Mila Popovic , Younes Touati, Norbert Kruger, Oliver Kroemer, Jan Peters and Justus Piater

Conference Paper, International Conference on Development and Learning (ICDL), January, 2009
Learning Visual Representations for Interactive Systems
Justus Piater, Sebastien Jodogne, Renaud Detry, Dirk Kraft, Norbert Kruger, Oliver Kroemer and Jan Peters

Conference Paper, International Symposium on Robotic Research (ISRR), January, 2009
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