Tim Welschehold - Autonomous Intelligent Systems (original) (raw)

Info

	Albert-Ludwigs-Universität Freiburg Technische Fakultät Autonome Intelligente Systeme Georges-Köhler-Allee 080 D-79110 Freiburg i. Br., Germany Office: 01-002 twelsche@informatik.uni-freiburg.de Phone: +49 761 203-8005

About me

• 05/2022 - up to now: Substitute professor and commissary head of the Autonomous Intelligent Systems group, University of Freiburg, Germany
• 03/2020 - 04/2022: Senior Researcher at the Autonomous Intelligent Systems and Robotic Learning groups, University of Freiburg, Germany
• 04/2014 - 03/2019: PhD in Computer Science at the Autonomous Intelligent Systems group of Prof. Dr. Wolfram Burgard, University of Freiburg, Germany
• 05/2013 - 03/2014: Scientific Researcher, Fraunhofer Institute of Solar Energy Systems
• 10/2007 - 04/2013: Diploma in Physics with minor in Computer Science, University of Freiburg

Research Interests

• Reinforcement learning
• Learning from demonstration
• Robot manipulation
• Dynamical Systems

Current Research Projects

• ReScale - Responsible and Scalable Learning for Robots Assisting Humans
• OpenDR - Open Deep learning toolkit for Robotics
• OML - Organic Machine Learning

Past Research Projects

• HYBRIS – Hybrid Reasoning for Intelligent Systems
• ROTAH – Robot Task Learning by Active Tracking of Hands

Publications

Google scholar profile

2023

• Nicolai Dorka,Tim Welschehold,Wolfram Burgard,
  Dynamic Update-to-Data Ratio: Minimizing World Model Overfitting
  International Conference on Learning Representations (ICLR), 2023.
  Also at: Decision Awareness in Reinforcement Learning Workshop at the International Conference on Machine Learning (ICML), 2022.
  Download BibTeX
  @article{dorka22imcl_ws,
  title={Dynamic Update-to-Data Ratio: Minimizing World Model Overfitting},
  author={Dorka, Nicolai and Welschehold, Tim and Burgard, Wolfram},
  journal={Decision Awareness in Reinforcement Learning Workshop at the International Conference on Machine Learning (ICML)},
  year={2022}

}

• Abdelrahman Younes*,Daniel Honerkamp*,Tim Welschehold,Abhinav Valada,
  Catch Me If You Hear Me: Audio-Visual Navigation in Complex Unmapped Environments with Moving Sounds
  Robotics and Automation Letters (RA-L), 8(2), 2023.
  Download BibTeX
  @misc{https://doi.org/10.48550/arxiv.2111.14843,
  doi = {10.48550/ARXIV.2111.14843},
  url = {https://arxiv.org/abs/2111.14843},
  author = {Younes, Abdelrahman and Honerkamp, Daniel and Welschehold, Tim and Valada, Abhinav},
  title = {Catch Me If You Hear Me: Audio-Visual Navigation in Complex Unmapped Environments with Moving Sounds},
  publisher = {arXiv},
  year = {2021},
  }
• Nicolai Dorka,Tim Welschehold,Joschka Boedecker,Wolfram Burgard,
  Adaptively Calibrated Critic Estimates for Deep Reinforcement Learning
  Robotics and Automation Letters (RA-L), 8(2), 2023.
  Also at: Workshop on Deep Reinforcement Learning, Conference on Neural Information Processing Systems (NeurIPS) , 2021.
  Download BibTeX
  @article{dorka23ral,
  title={Adaptively Calibrated Critic Estimates for Deep Reinforcement Learning},
  author={Dorka, Nicolai and Welschehold, Tim and Boedecker, Joschka and Burgard, Wolfram},
  journal={Robotics and Automation Letters (RA-L),8(2)},
  year={2022}

}

2022

• Daniel Honerkamp,Tim Welschehold,Abhinav Valada,
  N2M2:Learning Navigation for Arbitrary Mobile Manipulation Motions in Unseen and Dynamic Environments
  arXiv preprint arXiv:2206.08737, 2022.
  Download Video Demo BibTeX
  @article{honerkamp22n2m2,
  title={N2M2:Learning Navigation for Arbitrary Mobile Manipulation Motions in Unseen and Dynamic Environments},
  author={Honerkamp, Daniel and Welschehold, Tim and Valada, Abhinav},
  journal={arXiv preprint arXiv:2206.08737},
  year={2022}

}

• Fabian Schmalstieg*,Daniel Honerkamp*,Tim Welschehold,Abhinav Valada,
  Learning Long-Horizon Robot Exploration Strategies for Multi-Object Search in Continuous Action Spaces
  Proceedings of the International Symposium on Robotics Research (ISRR), 2022.
  Download BibTeX
  @article{fabian22exploration,
  title={Learning Long-Horizon Robot Exploration Strategies for Multi-Object Search in Continuous Action Spaces},
  author={Schmalstieg, Fabian and Honerkamp, Daniel and Welschehold, Tim and Valada, Abhinav},
  journal={Proceedings of the International Symposium on Robotics Research (ISRR)},
  year={2022}

}
}

• Iman Nematollahi,Erick Rosete-Beas,Adrian Röfer,Tim Welschehold,Abhinav Valada,Wolfram Burgard,
  Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models
  IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022.
  Download Video Project Page BibTeX
  @article{nematollahi2022icra,
  title = {Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models},
  author = {Iman Nematollahi, Erick Rosete-Beas, Adrian Roefer, Tim Welschehold, Abhinav Valada, Wolfram Burgard},
  journal = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2022}
  }
• Jan Ole von Hartz,Eugenio Chisari ,Tim Welschehold,Abhinav Valada,
  Self-Supervised Learning of Multi-Object Keypoints for Robotic Manipulation
  Reinforcement Learning for Contact-Rich Manipulation Workshop at ICRA, Philadelphia, USA, 2022.
  Download BibTeX
  @article{vHartz22icra_ws,
  url = {https://arxiv.org/pdf/2205.08316.pdf},
  author = {von Hartz, J. O. and Chisari, E. and Welschehold, T. and Valada, A.},
  title = {Self-Supervised Learning of Multi-Object Keypoints for Robotic Manipulation},
  journal = {Reinforcement Learning for Contact-Rich Manipulation Workshop at ICRA},
  year = {2022},
  }
  }
• Eugenio Chisari ,Tim Welschehold,Joschka Boedecker,Wolfram Burgard,Abhinav Valada,
  Correct Me if I am Wrong: Interactive Learning for Robotic Manipulation
  IEEE Robotics and Automation Letters (RA-L), 7(2):3695--3702, 2022.
  Download BibTeX
  @article{chisari21,
  author={Chisari, Eugenio and Welschehold, Tim and Boedecker, Joschka and Burgard, Wolfram and Valada, Abhinav},
  journal={arXiv preprint arXiv:2110.03316},
  title={Correct Me if I am Wrong: Interactive Learning for Robotic Manipulation},
  year={2021},
  volume={},
  number={},
  pages={1-1},
  doi={},
  url={https://arxiv.org/pdf/2110.03316.pdf}
  }
• Shengchao Yan ,Tim Welschehold,Daniel Büscher,Wolfram Burgard,
  Courteous Behavior of Automated Vehicles at Unsignalized Intersections via Reinforcement Learning
  IEEE Robotics and Automation Letters (RA-L),7(1):191--198., 2022.
  Download BibTeX
  @article{yan21ral,
  author={Yan, Shengchao and Welschehold, Tim and Büscher, Daniel and Burgard, Wolfram},
  journal={IEEE Robotics and Automation Letters},
  title={Courteous Behavior of Automated Vehicles at Unsignalized Intersections via Reinforcement Learning},
  year={2021},
  volume={},
  number={},
  pages={1-1},
  doi={10.1109/LRA.2021.3121807},
  url={http://ais.informatik.uni-freiburg.de/publications/papers/yan21ral.pdf}
  }
• Laura Londoño,Adrian Röfer,Tim Welschehold,Abhinav Valada,
  Doing Right by Not Doing Wrong in Human-Robot Collaboration
  ACM/IEEE International Conference on Human-Robot Interaction Workshop on Fairness and Transparency in Human-Robot Interaction, 2022.
  Download BibTeX
  @inproceedings{londono22hri,
  title={Doing Right by Not Doing Wrong in Human-Robot Collaboration},
  author={Londoño, Laura and Röfer, Adrian and Welschehold, Tim and Valada, Abhinav},
  booktitle={ACM/IEEE International Conference on Human-Robot Interaction Workshop on Fairness and Transparency in Human-Robot Interaction},
  year={2022}
  }
• Abdelrahman Younes,Daniel Honerkamp,Tim Welschehold,Abhinav Valada,
  SoundSpaces Challenge 2022 - 2nd Place
  Conference on Computer Vision and Pattern Recognition (CVPR) Embodied AI Workshop, 2022.
  Video Challenge

2021

• Daniel Honerkamp,Tim Welschehold,Abhinav Valada,
  Learning Kinematic Feasibility for Mobile Manipulation through Deep Reinforcement Learning
  in IEEE Robotics and Automation Letters (RA-L) , 2021.
  Download Video Demo BibTeX
  @article{honerkamp2021learning,
  title={Learning Kinematic Feasibility for Mobile Manipulation through Deep Reinforcement Learning},
  author={Honerkamp, Daniel and Welschehold, Tim and Valada, Abhinav},
  journal={arXiv preprint arXiv:2101.05325},
  year={2021}
  }
• Abdelrahman Younes,Daniel Honerkamp,Tim Welschehold,Abhinav Valada,
  SoundSpaces Challenge - 1st Place
  Conference on Computer Vision and Pattern Recognition (CVPR) Embodied AI Workshop, 2021.
  Video Challenge

2020

• Tim Welschehold
  Learning mobile manipulation actions from human demonstrations: an approach to learning and augmenting action models and their integration into task representations
  Ph.D. Dissertation

2019

• Tim Welschehold, Nichola Abdo, Christian Dornhege, Wolfram Burgard
  Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.
  BibTeX
  @INPROCEEDINGS{twelsche19iros,
  author = {Tim Welschehold and Nichola Abdo and Christian Dornhege and Wolfram Burgard},
  title = {Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications},
  booktitle = {Proceedings of the International Conference on Intelligent Robots and Systems (IROS)},
  year = 2019,
  address = {Macau, China},
  }
• Iman Nematollahi , Daniel Kuhner, Tim Welschehold, Wolfram Burgard
  Augmenting Action Model Learning by Non-Geometric Features
  Proceedings of the International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019
  BibTeX
  @INPROCEEDINGS{nematollahi19icra,
  author = {Iman Nematollahi and Daniel Kuher and Tim Welschehold and Wolfram Burgard},
  title = {Augmenting Action Model Learning by Non-Geometric Features},
  booktitle = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
  year = 2019,
  address = {Montreal, Canada},
  }

2018

• Tim Welschehold, Christian Dornhege, Fabian Paus, Tamim Asfour, Wolfram Burgard
  Coupling Mobile Base And End-Effector Motion in Task Space
  Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018
  BibTeX
  @INPROCEEDINGS{twelsche18iros,
  author = {Tim Welschehold and Christian Dornhege and Fabian Paus and Tamim Asfour and Wolfram Burgard},
  title = {Learning Mobile Manipulation Actions from Human Demonstrations},
  booktitle = {Proceedings of the International Conference on Intelligent Robots and Systems (IROS)},
  year = 2018,
  address = {Madrid, Spain},
  }
• Christian Zimmermann, Tim Welschehold, Christian Dornhege, Wolfram Burgard, Thomas Brox
  3D Human Pose Estimation in RGBD Images for Robotic Task Learning
  In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Brisbane, Australia, 2018.
  BibTeX
  @InProceedings{zimmermann18icra,
  Title = {3D Human Pose Estimation in RGBD Images for Robotic Task Learning},
  Author = {Christian Zimmermann and Tim Welschehold and Christian Dornhege and Thomas Brox and Wolfram Burgard},
  Booktitle = ICRA,
  Year = {2018}
  },
  }

2017

• Tim Welschehold, Christian Dornhege, Wolfram Burgard
  Learning Mobile Manipulation Actions from Human Demonstrations
  Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017
  BibTeX
  @INPROCEEDINGS{twelsche17iros,
  author = {Tim Welschehold and Christian Dornhege and Wolfram Burgard},
  title = {Learning Mobile Manipulation Actions from Human Demonstrations},
  booktitle = {Proceedings of the International Conference on Intelligent Robots and Systems (IROS)},
  year = 2017,
  address = {Vancouver, Canada},
  }
• Tim Welschehold, Nichola Abdo, Christian Dornhege, Wolfram Burgard
  Towards Learning Task Intentions from Human Demonstrations
  Workshop on “Learning for Collaborative Robotics: Enabling Flexible, Redeployable and Agile Industrial Applications” at the International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017
  BibTeX
  @INPROCEEDINGS{twelsche17lcriros,
  author = {Tim Welschehold and Nichola Abdo and Christian Dornhege and Wolfram Burgard},
  title = {Towards Learning Task Intentions from Human Demonstrations},
  booktitle = { Workshop on “Learning for Collaborative Robotics: Enabling Flexible, Redeployable and Agile Industrial Applications” at the International Conference on Intelligent Robots and Systems (IROS)},
  year = 2017,
  address = {Vancouver, Canada},

}

2016

• Tim Welschehold, Christian Dornhege, Wolfram Burgard
  Learning Manipulation Actions from Human Demonstrations
  Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, 2016
  BibTeX
  @INPROCEEDINGS{twelsche16iros,
  author = {Tim Welschehold and Christian Dornhege and Wolfram Burgard},
  title = {Learning Manipulation Actions from Human Demonstrations},
  booktitle = {Proceedings of the International Conference on Intelligent Robots and Systems (IROS)},
  year = 2016,
  address = {Daejeon, Korea},

}

• Matthias Demant, Tim Welschehold, Marcus Oswald, Sebastian Bartsch, Thomas Brox, Stephan Schoenfelder, Stefan Rein
  Microcracks in Silicon Wafers I: Inline Detection and Implications of Crack Morphology on Wafer Strength
  IEEE Journal of Photovoltaics 6 (1),pp. 126-135, 2016
  BibTeX
  @article{demant2016microcracks,
  title={Microcracks in silicon wafers I: Inline detection and implications of crack morphology on wafer strength},
  author={Demant, Matthias and Welschehold, Tim and Oswald, Marcus and Bartsch, Sebastian and Brox, Thomas and Schoenfelder, Stephan and Rein, Stefan},
  journal={IEEE Journal of Photovoltaics},
  volume={6},
  number={1},
  pages={126--135},
  year={2016},
  publisher={IEEE}
  }
• Matthias Demant, Tim Welschehold, Sven Kluska, Stefan Rein
  Microcracks in Silicon Wafers II: Implications on Solar Cell Characteristics, Statistics and Physical Origin
  IEEE Journal of Photovoltaics 6 (1),pp. 136-144, 2016
  BibTeX
  @article{demant2016microcracks,
  title={Microcracks in silicon wafers II: implications on solar cell characteristics, statistics and physical origin},
  author={Demant, Matthias and Welschehold, Tim and Kluska, Sven and Rein, Stefan},
  journal={IEEE Journal of Photovoltaics},
  volume={6},
  number={1},
  pages={136--144},
  year={2016},
  publisher={IEEE}
  }

2014

• Matthias Demant, Markus Oswald, Tim Welschehold, Sebastian Nold, Sebastian Bartsch, Stephan SChoenfelder, Stefan Rein
  Micro-Cracks in Silicon Wafers and Solar Cells: Detection and Rating of Mechanical Strength and Electrical Quality
  29th European Photovoltaic Solar Energy Conference and Exhibition (EU PVSEC), 2014
  BibTeX
  @INPROCEEDINGS{demantmicro,
  author = {Demant, Matthias and Oswald, Marcus and Welschehold, Tim and Nold, Sebastian and Bartsch, Sebastian and Schoenfelder, Stephan and Rein, Stefan},
  title = {Micro-Cracks in Silicon Wafers and Solar Cells: Detection and Rating of Mechanical Strength and Electrical Quality},
  booktitle = {29th European Photovoltaic Solar Energy Conference and Exhibition (EU PVSEC)},
  year = 2014,
  address = {Amsterdam, The Netherlands},

}