Sitemap
A list of all the posts and pages found on the site. For you robots out there, there is an XML version available for digesting as well.
Pages
Posts
portfolio
publications
Adaptable Multimodal Interaction Framework for Robot-Assisted Cognitive Training
Published in HRI 2018 (Companion), 2018
A framework that adjusts robot assistance level and action execution modalities for cognitive training of patients with mild cognitive impairment or Alzheimer.
Recommended citation: Aleksandar Taranovic, Aleksandar Jevtic, Carme Torras. (2018). "Adaptable Multimodal Interaction Framework for Robot-Assisted Cognitive Training." Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction.
Download Paper
Resource-Based Modality Selection in Robot-Assisted Cognitive Training
Published in HRI 2018 (Companion), 2018
A resource-based approach for selecting interaction modalities in robot-assisted cognitive training scenarios.
Recommended citation: Aleksandar Taranovic, Aleksandar Jevtic, Joan Hernandez-Farigola, Natalia Tantinya, Carla Abdelnour, Carme Torras. (2018). "Resource-Based Modality Selection in Robot-Assisted Cognitive Training." Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction.
Download Paper
Adaptive Modality Selection Algorithm in Robot-Assisted Cognitive Training
Published in IROS 2018, 2018
An algorithm that selects robot interaction modalities based on the state of the user and the environment, as well as user preferences.
Recommended citation: Aleksandar Taranovic, Aleksandar Jevtic, Carme Torras. (2018). "Adaptive Modality Selection Algorithm in Robot-Assisted Cognitive Training." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Download Paper
Automatic Learning of Cognitive Exercises for Socially Assistive Robotics
Published in RO-MAN 2021, 2021
Automatic generation and adaptation of cognitive exercises for socially assistive robots.
Recommended citation: Alejandro Suarez-Hernandez, Antonio Andriella, Aleksandar Taranovic, Javier Segovia-Aguas, Carme Torras, Guillem Alenya. (2021). "Automatic Learning of Cognitive Exercises for Socially Assistive Robotics." IEEE International Conference on Robot and Human Interactive Communication (RO-MAN).
Download Paper
Inferring Versatile Behavior from Demonstrations by Matching Geometric Descriptors
Published in CoRL 2022, 2022
A method for learning versatile behaviors from demonstrations by matching geometric descriptors.
Recommended citation: Niklas Freymuth, Nicolas Schreiber, Aleksandar Taranovic, Philipp Becker, Gerhard Neumann. (2022). "Inferring Versatile Behavior from Demonstrations by Matching Geometric Descriptors." Conference on Robot Learning (CoRL).
Download Paper
Adversarial Imitation Learning with Preferences
Published in ICLR 2023, 2023
Extending adversarial imitation learning to simultaneously utilize both demonstrations and preferences for policy learning.
Recommended citation: Aleksandar Taranovic, Andras Gabor Kupcsik, Niklas Freymuth, Gerhard Neumann. (2023). "Adversarial Imitation Learning with Preferences." International Conference on Learning Representations (ICLR).
Download Paper
Domain-Specific Fine-Tuning of Large Language Models for Interactive Robot Programming
Published in ERF 2024, 2024
Fine-tuning large language models for interactive robot programming tasks.
Recommended citation: Benjamin Alt, Urs Kessner, Aleksandar Taranovic, Darko Katic, Andreas Hermann, Rainer Jaekel, Gerhard Neumann. (2024). "Domain-Specific Fine-Tuning of Large Language Models for Interactive Robot Programming." European Robotics Forum (ERF).
Download Paper
Acquiring Diverse Skills using Curriculum Reinforcement Learning with Mixture of Experts
Published in ICML 2024, 2024
Using curriculum reinforcement learning with mixture of experts to acquire diverse robot skills.
Recommended citation: Onur Celik, Aleksandar Taranovic, Gerhard Neumann. (2024). "Acquiring Diverse Skills using Curriculum Reinforcement Learning with Mixture of Experts." International Conference on Machine Learning (ICML).
Download Paper
Towards Fusing Point Cloud and Visual Representations for Imitation Learning
Published in arXiv preprint, 2025
Combining point cloud and image representations to get the best of both modalities for imitation learning.
Recommended citation: Atalay Donat, Xiaogang Jia, Xi Huang, Aleksandar Taranovic, Denis Blessing, Ge Li, Hongyi Zhou, Hanyi Zhang, Rudolf Lioutikov, Gerhard Neumann. (2025). "Towards Fusing Point Cloud and Visual Representations for Imitation Learning." arXiv preprint arXiv:2502.12320.
Download Paper
AMBER: Adaptive Mesh Generation by Iterative Mesh Resolution Prediction
Published in NeurIPS 2025, 2025
A supervised learning approach to adaptive mesh generation that iteratively predicts sizing fields from expert demonstrations.
Recommended citation: Niklas Freymuth, Tobias Wuerth, Nicolas Schreiber, Balazs Gyenes, Andreas Boltres, Johannes Mitsch, Aleksandar Taranovic, Tai Hoang, Philipp Dahlinger, Philipp Becker, Luise Kaerger, Gerhard Neumann. (2025). "AMBER: Adaptive Mesh Generation by Iterative Mesh Resolution Prediction." Conference on Neural Information Processing Systems (NeurIPS).
Download Paper
Scaffolding Dexterous Manipulation with Vision-Language Models
Published in NeurIPS 2025, 2025
Using vision-language models to specify tasks and guide exploration for dexterous robotic manipulation without human demonstrations or handcrafted rewards.
Recommended citation: Vincent de Bakker, Joey Hejna, Tyler Ga Wei Lum, Onur Celik, Aleksandar Taranovic, Denis Blessing, Gerhard Neumann, Jeannette Bohg, Dorsa Sadigh. (2025). "Scaffolding Dexterous Manipulation with Vision-Language Models." Conference on Neural Information Processing Systems (NeurIPS).
Download Paper
PAWS: Preference Learning with Advantage-Weighted Segments
Published in ICML 2026, 2026
A preference-based RL method that aligns utility training with policy optimization using segment-level advantage functions.
Recommended citation: Aleksandar Taranovic, Onur Celik, Niklas Freymuth, Ge Li, Serge Thilges, Huy Le, Tai Hoang, Rania Rayyes, Gerhard Neumann. (2026). "PAWS: Preference Learning with Advantage-Weighted Segments." International Conference on Machine Learning (ICML).
Download Paper